Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

NASA Technical Reports Server (NTRS)

Bayo, Eduardo; Ledesma, Ragnar

1993-01-01

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

Dynamical modelling of coordinated multiple robot systems

NASA Technical Reports Server (NTRS)

Hayati, Samad

1987-01-01

The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.

Motions, efforts and actuations in constrained dynamic systems: a multi-link open-chain example

NASA Astrophysics Data System (ADS)

Duke Perreira, N.

1999-08-01

The effort-motion method, which describes the dynamics of open- and closed-chain topologies of rigid bodies interconnected with revolute and prismatic pairs, is interpreted geometrically. Systems are identified for which the simultaneous control of forces and velocities is desirable, and a representative open-chain system is selected for use in the ensuing analysis. Gauge invariant transformations are used to recast the commonly used kinetic and kinematic equations into a dimensional gauge invariant form. Constraint elimination techniques based on singular value decompositions then recast the invariant equations into orthogonal and reciprocal sets of motion and effort equations written in state variable form. The ideal actuation is found that simultaneously achieves the obtainable portions of the desired constraining efforts and motions. The performance is then evaluated of using the actuation closest to the ideal actuation.

B(E2)↑ Measurements for Radioactive Neutron-Rich Ge Isotopes: Reaching the N=50 Closed Shell

NASA Astrophysics Data System (ADS)

Padilla-Rodal, E.; Galindo-Uribarri, A.; Baktash, C.; Batchelder, J. C.; Beene, J. R.; Bijker, R.; Brown, B. A.; Castaños, O.; Fuentes, B.; del Campo, J. Gomez; Hausladen, P. A.; Larochelle, Y.; Lisetskiy, A. F.; Mueller, P. E.; Radford, D. C.; Stracener, D. W.; Urrego, J. P.; Varner, R. L.; Yu, C.-H.

2005-03-01

The B(E2;0+1→2+1) values for the radioactive neutron-rich germanium isotopes 78,80Ge and the closed neutron shell nucleus 82Ge were measured at the HRIBF using Coulomb excitation in inverse kinematics. These data allow a study of the systematic trend between the subshell closures at N=40 and 50. The B(E2) behavior approaching N=50 is similar to the trend observed for heavier isotopic chains. A comparison of the experimental results with a shell model calculation demonstrates persistence of the N=50 shell gap and a strong sensitivity of the B(E2) values to the effective interaction.

The coupling effects of kinematics and flexibility on the Lagrangian dynamic formulation of open chain deformable links

NASA Technical Reports Server (NTRS)

Changizi, Koorosh

1989-01-01

A nonlinear Lagrangian formulation for the spatial kinematic and dynamic analysis of open chain deformable links consisting of cylindrical joints that connect pairs of flexible links is developed. The special cases of revolute or prismatic joint can also be obtained from the kinematic equations. The kinematic equations are described using a 4x4 matrix method. The configuration of each deformable link in the open loop kinematic chain is identified using a coupled set of relative joint variables, constant geometric parameters, and elastic coordinates. The elastic coordinates define the link deformation with respect to a selected joint coordinate system that is consistent with the kinematic constraints on the boundary of the deformable link. These coordinates can be introduced using approximation techniques such as Rayleigh-Ritz method, finite element technique or any other desired approach. The large relative motion between two neighboring links are defined by a set of joint coordinates which describes the large relative translational and rotational motion between two neighboring joint coordinate systems. The origin of these coordinate systems are rigidly attached to the neighboring links at the joint definition points along the axis of motion.

Optimizing the way kinematical feed chains with great distance between slides are chosen for CNC machine tools

NASA Astrophysics Data System (ADS)

Lucian, P.; Gheorghe, S.

2017-08-01

This paper presents a new method, based on FRISCO formula, for optimizing the choice of the best control system for kinematical feed chains with great distance between slides used in computer numerical controlled machine tools. Such machines are usually, but not limited to, used for machining large and complex parts (mostly in the aviation industry) or complex casting molds. For such machine tools the kinematic feed chains are arranged in a dual-parallel drive structure that allows the mobile element to be moved by the two kinematical branches and their related control systems. Such an arrangement allows for high speed and high rigidity (a critical requirement for precision machining) during the machining process. A significant issue for such an arrangement it’s the ability of the two parallel control systems to follow the same trajectory accurately in order to address this issue it is necessary to achieve synchronous motion control for the two kinematical branches ensuring that the correct perpendicular position it’s kept by the mobile element during its motion on the two slides.

The quadruped robot adaptive control in trotting gait walking on slopes

NASA Astrophysics Data System (ADS)

Zhang, Shulong; Ma, Hongxu; Yang, Yu; Wang, Jian

2017-10-01

The quadruped robot can be decomposed into a planar seven-link closed kinematic chain in the direction of supporting line and a linear inverted pendulum in normal direction of supporting line. The ground slope can be estimated by using the body attitude information and supporting legs length. The slope degree is used in feedback, to achieve the point of quadruped robot adaptive control walking on slopes. The simulation results verify that the quadruped robot can achieves steady locomotion on the slope with the control strategy proposed in this passage.

Spatiotemporal, kinematic, force and muscle activation outcomes during gait and functional exercise in water compared to on land: A systematic review.

PubMed

Heywood, Sophie; McClelland, Jodie; Geigle, Paula; Rahmann, Ann; Clark, Ross

2016-07-01

Exercises replicating functional activities are commonly used in aquatic rehabilitation although it is not clear how the movement characteristics differ between the two environments. A systematic review was completed in order to compare the biomechanics of gait, closed kinetic chain and plyometric exercise when performed in water and on land. Databases including MEDLINE, CINAHL, SPORTDiscus, Embase and the Cochrane library were searched. Studies were included where a functional lower limb activity was performed in water and on land with the same instructions. Standardized mean differences (SMD) and 95% confidence intervals were calculated for spatiotemporal, kinematic, force and muscle activation outcomes. 28 studies included walking or running (19 studies), stationary running (three), closed kinetic chain exercise (two), plyometric exercise (three) and timed-up and go (one). Very large effect sizes showed self-selected speed of walking (SMD >4.66) and vertical ground reaction forces (VGRF) (SMD >1.91) in water were less than on land, however, lower limb range of movement and muscle activity were similar. VGRF in plyometric exercise was lower in water when landing but more similar between the two environments in propulsion. Maximal speed of movement for walking and stationary running was lower in water compared to on land (SMD>3.05), however was similar in propulsion in plyometric exercise. Drag forces may contribute to lower self-selected speed of walking. Monitoring speed of movement in water assists in determining the potential advantages or limitations of aquatic exercise and the task specificity to land-based function. Copyright © 2016 Elsevier B.V. All rights reserved.

Biomimetics of throwing at basketball

NASA Astrophysics Data System (ADS)

Merticaru, E.; Budescu, E.; Iacob, R. M.

2016-08-01

The paper deals with the inverse dynamics of a kinematic chain of the human upper limb when throwing the ball at the basketball, aiming to calculate the torques required to put in action the technical system. The kinematic chain respects the anthropometric features regarding the length and mass of body segments. The kinematic parameters of the motion were determined by measuring the angles of body segments during a succession of filmed pictures of a throw, and the interpolation of these values and determination of the interpolating polynomials for each independent geometric coordinate. Using the Lagrange equations, there were determined the variations with time of the required torques to put in motion the kinematic chain of the type of triple physical pendulum. The obtained values show, naturally, the fact that the biggest torque is that for mimetic articulation of the shoulder, being comparable with those obtained by the brachial biceps muscle of the analyzed human subject. Using the obtained data, there can be conceived the mimetic technical system, of robotic type, with application in sports, so that to perform the motion of ball throwing, from steady position, at the basket.

The Kinematics of Trunk and Upper Extremities in One-Handed and Two-Handed Backhand Stroke

PubMed Central

Stępień, Adam; Bober, Tadeusz; Zawadzki, Jerzy

2011-01-01

The aim of this study was to present kinematics of trunk and upper extremities in tennis players who perform one-handed and two-handed backhand strokes. The study aimed to address the question of whether one of those techniques has some important advantage over the other. If so, what makes it superior? The study included 10 tennis coaches with average coaching experience of 9 years. The coaches were asked to hit 15 one-handed and two-handed backhands. The tests were carried out in a laboratory. A sponge ball was used in order to protect the measurement equipment. Video motion analysis was carried out using BTS SMART system; images were recorded with 6 cameras with a rate of 120 frames per second. The analysis of both backhand strokes focused on the second phase of the stroke (acceleration). The use of an eight-element model of human body for description of upper body motion in both techniques revealed kinematic differences in how both backhands are performed. The two-handed backhand was performed in closed kinetic chain with 8 degrees of freedom, whereas the one-handed backhand involved an open kinetic chain with 7 degrees of freedom. Higher rigidity of upper extremities which are connected with trunk in the two-handed backhand, contributes to an elevated trunk effect in this stroke. This is confirmed by higher component velocities for racket handle, which result from trunk rotation in the two-handed backhand and a negative separation angle in the two-handed backhand at the moment of contact of the racket with the ball. The study does not provide a clear-cut answer to the question of advantages of one technique over the other; however, it reveals dissimilar patterns of driving the racket in both techniques, which suggests the need for extending the analysis of techniques of both backhands with additional kinematics of tennis racket in consideration of measurements of ball velocities. PMID:23486650

Kinematic measurements of the vocal-fold displacement waveform in typical children and adult populations: quantification of high-speed endoscopic videos.

PubMed

Patel, Rita; Donohue, Kevin D; Unnikrishnan, Harikrishnan; Kryscio, Richard J

2015-04-01

This article presents a quantitative method for assessing instantaneous and average lateral vocal-fold motion from high-speed digital imaging, with a focus on developmental changes in vocal-fold kinematics during childhood. Vocal-fold vibrations were analyzed for 28 children (aged 5-11 years) and 28 adults (aged 21-45 years) without voice disorders. The following kinematic features were analyzed from the vocal-fold displacement waveforms: relative velocity-based features (normalized average and peak opening and closing velocities), relative acceleration-based features (normalized peak opening and closing accelerations), speed quotient, and normalized peak displacement. Children exhibited significantly larger normalized peak displacements, normalized average and peak opening velocities, normalized average and peak closing velocities, peak opening and closing accelerations, and speed quotient compared to adult women. Values of normalized average closing velocity and speed quotient were higher in children compared to adult men. When compared to adult men, developing children typically have higher estimates of kinematic features related to normalized displacement and its derivatives. In most cases, the kinematic features of children are closer to those of adult men than adult women. Even though boys experience greater changes in glottal length and pitch as they mature, results indicate that girls experience greater changes in kinematic features compared to boys.

Effects of Vocal Fold Nodules on Glottal Cycle Measurements Derived from High-Speed Videoendoscopy in Children

PubMed Central

2016-01-01

The goal of this study is to quantify the effects of vocal fold nodules on vibratory motion in children using high-speed videoendoscopy. Differences in vibratory motion were evaluated in 20 children with vocal fold nodules (5–11 years) and 20 age and gender matched typically developing children (5–11 years) during sustained phonation at typical pitch and loudness. Normalized kinematic features of vocal fold displacements from the mid-membranous vocal fold point were extracted from the steady-state high-speed video. A total of 12 kinematic features representing spatial and temporal characteristics of vibratory motion were calculated. Average values and standard deviations (cycle-to-cycle variability) of the following kinematic features were computed: normalized peak displacement, normalized average opening velocity, normalized average closing velocity, normalized peak closing velocity, speed quotient, and open quotient. Group differences between children with and without vocal fold nodules were statistically investigated. While a moderate effect size was observed for the spatial feature of speed quotient, and the temporal feature of normalized average closing velocity in children with nodules compared to vocally normal children, none of the features were statistically significant between the groups after Bonferroni correction. The kinematic analysis of the mid-membranous vocal fold displacement revealed that children with nodules primarily differ from typically developing children in closing phase kinematics of the glottal cycle, whereas the opening phase kinematics are similar. Higher speed quotients and similar opening phase velocities suggest greater relative forces are acting on vocal fold in the closing phase. These findings suggest that future large-scale studies should focus on spatial and temporal features related to the closing phase of the glottal cycle for differentiating the kinematics of children with and without vocal fold nodules. PMID:27124157

Kinematic Measurements of the Vocal-Fold Displacement Waveform in Typical Children and Adult Populations: Quantification of High-Speed Endoscopic Videos

PubMed Central

Donohue, Kevin D.; Unnikrishnan, Harikrishnan; Kryscio, Richard J.

2015-01-01

Purpose This article presents a quantitative method for assessing instantaneous and average lateral vocal-fold motion from high-speed digital imaging, with a focus on developmental changes in vocal-fold kinematics during childhood. Method Vocal-fold vibrations were analyzed for 28 children (aged 5–11 years) and 28 adults (aged 21–45 years) without voice disorders. The following kinematic features were analyzed from the vocal-fold displacement waveforms: relative velocity-based features (normalized average and peak opening and closing velocities), relative acceleration-based features (normalized peak opening and closing accelerations), speed quotient, and normalized peak displacement. Results Children exhibited significantly larger normalized peak displacements, normalized average and peak opening velocities, normalized average and peak closing velocities, peak opening and closing accelerations, and speed quotient compared to adult women. Values of normalized average closing velocity and speed quotient were higher in children compared to adult men. Conclusions When compared to adult men, developing children typically have higher estimates of kinematic features related to normalized displacement and its derivatives. In most cases, the kinematic features of children are closer to those of adult men than adult women. Even though boys experience greater changes in glottal length and pitch as they mature, results indicate that girls experience greater changes in kinematic features compared to boys. PMID:25652615

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Stephen H.; Wen, John Ting-Yung; Saridis, George N.

1991-01-01

The dynamic equations of motion are presented for two or more cooperating manipulators on a freely moving mobile platform. The system of cooperating robot manipulators forms a closed kinematic chain where the force of interaction must be included in the formulation of robot and platform dynamics. The formulation includes the full dynamic interactions from arms to platform and arm tip to arm tip, and the possible translation and rotation of the platform. The equations of motion are shown to be identical in structure to the fixed-platform cooperative manipulator dynamics. The number of DOFs of the system is sufficiently large to make recursive dynamic calculation methods potentially more efficient than closed-form solutions. A complete simulation with two 6-DOF manipulators of a free-floating platform is presented along a with a multiple-arm controller to position the common load.

Simulation of Constrained Musculoskeletal Systems in Task Space.

PubMed

Stanev, Dimitar; Moustakas, Konstantinos

2018-02-01

This paper proposes an operational task space formalization of constrained musculoskeletal systems, motivated by its promising results in the field of robotics. The change of representation requires different algorithms for solving the inverse and forward dynamics simulation in the task space domain. We propose an extension to the direct marker control and an adaptation of the computed muscle control algorithms for solving the inverse kinematics and muscle redundancy problems, respectively. Experimental evaluation demonstrates that this framework is not only successful in dealing with the inverse dynamics problem, but also provides an intuitive way of studying and designing simulations, facilitating assessment prior to any experimental data collection. The incorporation of constraints in the derivation unveils an important extension of this framework toward addressing systems that use absolute coordinates and topologies that contain closed kinematic chains. Task space projection reveals a more intuitive encoding of the motion planning problem, allows for better correspondence between observed and estimated variables, provides the means to effectively study the role of kinematic redundancy, and most importantly, offers an abstract point of view and control, which can be advantageous toward further integration with high level models of the precommand level. Task-based approaches could be adopted in the design of simulation related to the study of constrained musculoskeletal systems.

Scapular kinematics and shoulder elevation in a traditional push-up.

PubMed

Suprak, David N; Bohannon, Jennifer; Morales, Gabriel; Stroschein, Joseph; San Juan, Jun G

2013-01-01

Proper scapulothoracic motion is critical for the health and function of the shoulder and represents a principal focus in the rehabilitation setting. Variants of the traditional push-up are used frequently to help restore proper scapular kinematics. To date, substantial research has focused on muscle activation levels of rotator cuff and scapular-stabilizing musculature, whereas a dearth of literature exists regarding scapular kinematics during push-up variants. To examine the effect of shoulder position on scapular kinematics across the range of motion (ROM) of a traditional push-up. Cross-sectional study. University laboratory. Sixteen healthy participants without a history of upper extremity or spine injury requiring rehabilitation or surgery. Participants performed a traditional push-up while kinematic measurements were acquired from multiple upper extremity segments. The 3 shoulder position conditions were (1) self-selected position, (2) shoulder adducted upon ascent (at side), and (3) shoulder elevated to approximately 90°. Scapular posterior tilt, upward rotation, and external rotation were examined across elbow-extension ROM and compared across conditions. Posterior tilt was greater in the self-selected and at-side conditions than in the elevated condition and increased linearly with elbow extension. External rotation was greater in the self-selected and at-side conditions compared with that in the elevated condition. In the at-side condition, upward rotation began lower than in the other conditions at the start of the concentric phase but increased above the others soon after the elbow started to extend. Performing a traditional push-up with the shoulders elevated may place the scapula in a position of impingement. Clinicians should be cognizant of shoulder elevation when prescribing and monitoring exercise progression. The results of this study will provide further direction for clinicians in prescribing rehabilitation exercises for the upper extremity, especially closed chain exercises for shoulder conditions.

Full kinetic chain manual and manipulative therapy plus exercise compared with targeted manual and manipulative therapy plus exercise for symptomatic osteoarthritis of the hip: a randomized controlled trial.

PubMed

Brantingham, James W; Parkin-Smith, Gregory; Cassa, Tammy Kay; Globe, Gary A; Globe, Denise; Pollard, Henry; deLuca, Katie; Jensen, Muffit; Mayer, Stephan; Korporaal, Charmaine

2012-02-01

To determine the short-term effectiveness of full kinematic chain manual and manipulative therapy (MMT) plus exercise compared with targeted hip MMT plus exercise for symptomatic mild to moderate hip osteoarthritis (OA). Parallel-group randomized trial with 3-month follow-up. Two chiropractic outpatient teaching clinics. Convenience sample of eligible participants (N=111) with symptomatic hip OA were consented and randomly allocated to receive either the experimental or comparison treatment, respectively. Participants in the experimental group received full kinematic chain MMT plus exercise while those in the comparison group received targeted hip MMT plus exercise. Participants in both groups received 9 treatments over a 5-week period. Western Ontario and McMasters Osteoarthritis Index (WOMAC), Harris hip score (HHS), and Overall Therapy Effectiveness, alongside estimation of clinically meaningful outcomes. Total dropout was 9% (n=10) with 7% of total data missing, replaced using a multiple imputation method. No statistically significant differences were found between the 2 groups for any of the outcome measures (analysis of covariance, P=.45 and P=.79 for the WOMAC and HHS, respectively). There were no statistically significant differences in the primary or secondary outcome scores when comparing full kinematic chain MMT plus exercise with targeted hip MMT plus exercise for mild to moderate symptomatic hip OA. Consequently, the nonsignificant findings suggest that there would also be no clinically meaningful difference between the 2 groups. The results of this study provides guidance to musculoskeletal practitioners who regularly use MMT that the full kinematic chain approach does not appear to have any benefit over targeted treatment. Copyright © 2012 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Learning-based position control of a closed-kinematic chain robot end-effector

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1990-01-01

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Use of symbolic computation in robotics education

NASA Technical Reports Server (NTRS)

Vira, Naren; Tunstel, Edward

1992-01-01

An application of symbolic computation in robotics education is described. A software package is presented which combines generality, user interaction, and user-friendliness with the systematic usage of symbolic computation and artificial intelligence techniques. The software utilizes MACSYMA, a LISP-based symbolic algebra language, to automatically generate closed-form expressions representing forward and inverse kinematics solutions, the Jacobian transformation matrices, robot pose error-compensation models equations, and Lagrange dynamics formulation for N degree-of-freedom, open chain robotic manipulators. The goal of such a package is to aid faculty and students in the robotics course by removing burdensome tasks of mathematical manipulations. The software package has been successfully tested for its accuracy using commercially available robots.

Marker-based reconstruction of the kinematics of a chain of segments: a new method that incorporates joint kinematic constraints.

PubMed

Klous, Miriam; Klous, Sander

2010-07-01

The aim of skin-marker-based motion analysis is to reconstruct the motion of a kinematical model from noisy measured motion of skin markers. Existing kinematic models for reconstruction of chains of segments can be divided into two categories: analytical methods that do not take joint constraints into account and numerical global optimization methods that do take joint constraints into account but require numerical optimization of a large number of degrees of freedom, especially when the number of segments increases. In this study, a new and largely analytical method for a chain of rigid bodies is presented, interconnected in spherical joints (chain-method). In this method, the number of generalized coordinates to be determined through numerical optimization is three, irrespective of the number of segments. This new method is compared with the analytical method of Veldpaus et al. [1988, "A Least-Squares Algorithm for the Equiform Transformation From Spatial Marker Co-Ordinates," J. Biomech., 21, pp. 45-54] (Veldpaus-method, a method of the first category) and the numerical global optimization method of Lu and O'Connor [1999, "Bone Position Estimation From Skin-Marker Co-Ordinates Using Global Optimization With Joint Constraints," J. Biomech., 32, pp. 129-134] (Lu-method, a method of the second category) regarding the effects of continuous noise simulating skin movement artifacts and regarding systematic errors in joint constraints. The study is based on simulated data to allow a comparison of the results of the different algorithms with true (noise- and error-free) marker locations. Results indicate a clear trend that accuracy for the chain-method is higher than the Veldpaus-method and similar to the Lu-method. Because large parts of the equations in the chain-method can be solved analytically, the speed of convergence in this method is substantially higher than in the Lu-method. With only three segments, the average number of required iterations with the chain-method is 3.0+/-0.2 times lower than with the Lu-method when skin movement artifacts are simulated by applying a continuous noise model. When simulating systematic errors in joint constraints, the number of iterations for the chain-method was almost a factor 5 lower than the number of iterations for the Lu-method. However, the Lu-method performs slightly better than the chain-method. The RMSD value between the reconstructed and actual marker positions is approximately 57% of the systematic error on the joint center positions for the Lu-method compared with 59% for the chain-method.

3D printed soft parallel actuator

NASA Astrophysics Data System (ADS)

Zolfagharian, Ali; Kouzani, Abbas Z.; Khoo, Sui Yang; Noshadi, Amin; Kaynak, Akif

2018-04-01

This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.

Model-free learning on robot kinematic chains using a nested multi-agent topology

NASA Astrophysics Data System (ADS)

Karigiannis, John N.; Tzafestas, Costas S.

2016-11-01

This paper proposes a model-free learning scheme for the developmental acquisition of robot kinematic control and dexterous manipulation skills. The approach is based on a nested-hierarchical multi-agent architecture that intuitively encapsulates the topology of robot kinematic chains, where the activity of each independent degree-of-freedom (DOF) is finally mapped onto a distinct agent. Each one of those agents progressively evolves a local kinematic control strategy in a game-theoretic sense, that is, based on a partial (local) view of the whole system topology, which is incrementally updated through a recursive communication process according to the nested-hierarchical topology. Learning is thus approached not through demonstration and training but through an autonomous self-exploration process. A fuzzy reinforcement learning scheme is employed within each agent to enable efficient exploration in a continuous state-action domain. This paper constitutes in fact a proof of concept, demonstrating that global dexterous manipulation skills can indeed evolve through such a distributed iterative learning of local agent sensorimotor mappings. The main motivation behind the development of such an incremental multi-agent topology is to enhance system modularity, to facilitate extensibility to more complex problem domains and to improve robustness with respect to structural variations including unpredictable internal failures. These attributes of the proposed system are assessed in this paper through numerical experiments in different robot manipulation task scenarios, involving both single and multi-robot kinematic chains. The generalisation capacity of the learning scheme is experimentally assessed and robustness properties of the multi-agent system are also evaluated with respect to unpredictable variations in the kinematic topology. Furthermore, these numerical experiments demonstrate the scalability properties of the proposed nested-hierarchical architecture, where new agents can be recursively added in the hierarchy to encapsulate individual active DOFs. The results presented in this paper demonstrate the feasibility of such a distributed multi-agent control framework, showing that the solutions which emerge are plausible and near-optimal. Numerical efficiency and computational cost issues are also discussed.

Construction typification as the tool for optimizing the functioning of a robotized manufacturing system

NASA Astrophysics Data System (ADS)

Gwiazda, A.; Banas, W.; Sekala, A.; Foit, K.; Hryniewicz, P.; Kost, G.

2015-11-01

Process of workcell designing is limited by different constructional requirements. They are related to technological parameters of manufactured element, to specifications of purchased elements of a workcell and to technical characteristics of a workcell scene. This shows the complexity of the design-constructional process itself. The results of such approach are individually designed workcell suitable to the specific location and specific production cycle. Changing this parameters one must rebuild the whole configuration of a workcell. Taking into consideration this it is important to elaborate the base of typical elements of a robot kinematic chain that could be used as the tool for building Virtual modelling of kinematic chains of industrial robots requires several preparatory phase. Firstly, it is important to create a database element, which will be models of industrial robot arms. These models could be described as functional primitives that represent elements between components of the kinematic pairs and structural members of industrial robots. A database with following elements is created: the base kinematic pairs, the base robot structural elements, the base of the robot work scenes. The first of these databases includes kinematic pairs being the key component of the manipulator actuator modules. Accordingly, as mentioned previously, it includes the first stage rotary pair of fifth stage. This type of kinematic pairs was chosen due to the fact that it occurs most frequently in the structures of industrial robots. Second base consists of structural robot elements therefore it allows for the conversion of schematic structures of kinematic chains in the structural elements of the arm of industrial robots. It contains, inter alia, the structural elements such as base, stiff members - simple or angular units. They allow converting recorded schematic three-dimensional elements. Last database is a database of scenes. It includes elements of both simple and complex: simple models of technological equipment, conveyors models, models of the obstacles and like that. Using these elements it could be formed various production spaces (robotized workcells), in which it is possible to virtually track the operation of an industrial robot arm modelled in the system.

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1989-01-01

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Do anticipatory postural adjustments occurring in different segments of the postural chain follow the same organisational rule for different task movement velocities, independently of the inertial load value?

PubMed

Bouisset, S; Richardson, J; Zattara, M

2000-05-01

Dynamic phenomena, termed anticipatory postural adjustments (APA), are known to precede the onset of voluntary movement. Their anticipatory nature confers a particular status on APAs: as they cannot be triggered reflexly by afferent signals induced by a voluntary movement, it can be asked whether the APA parameters are centrally programmed as a function of some task movement parameters or are only the peripheral consequence of control variables. To this end the present study aims to determine whether the APAs occurring at the different sites of the postural chain yield the same accelerometric patterns and follow the same organisational rules when the task movement velocity changes, independently of the inertial load value. Subjects performed unilateral shoulder flexions at maximal and submaximal velocities, with (IUF) and without (OUF) an additional inertial load. Accelerometers were attached to the wrist and trunk, and on both sides of the body at shank, thigh, hip and shoulder. The results show that: 1) there was evidence of anticipatory acceleration in all segments of the postural chain; 2) each acceleration profile for the anticipatory phase was maintained over different focal movement velocities whether there was an additional load or not; 3) there were significant linear relationships between the amplitude of each segmental anticipatory acceleration and the square of the task movement velocity, the slope of which differs as a function of the inertial load; 4) there were close intersegmental correlations between these anticipatory accelerations which did not depend on the inertial load. In addition the correlation between the lower limbs and the opposite side of the body was positive, suggesting a diagonal postural pattern. A comparison of the present kinematic data with the corresponding EMG data reported in the literature argues in favour of a centrally determined kinematic pattern. It is proposed that the diagonal postural pattern between postural segments be considered as one of the order rules which could simplify the control process of asymmetrical movement. The anticipatory kinematics of each of the body segments would be calibrated with the velocity and the inertial load and scaled to the other segments to counteract the perturbing effect of the asymmetrical focal movement on body balance.

Using kinematic reduction for studying grasping postures. An application to power and precision grasp of cylinders.

PubMed

Jarque-Bou, N; Gracia-Ibáñez, V; Sancho-Bru, J L; Vergara, M; Pérez-González, A; Andrés, F J

2016-09-01

The kinematic analysis of human grasping is challenging because of the high number of degrees of freedom involved. The use of principal component and factorial analyses is proposed in the present study to reduce the hand kinematics dimensionality in the analysis of posture for ergonomic purposes, allowing for a comprehensive study without losing accuracy while also enabling velocity and acceleration analyses to be performed. A laboratory study was designed to analyse the effect of weight and diameter in the grasping posture for cylinders. This study measured the hand posture from six subjects when transporting cylinders of different weights and diameters with precision and power grasps. The hand posture was measured using a Vicon(®) motion-tracking system, and the principal component analysis was applied to reduce the kinematics dimensionality. Different ANOVAs were performed on the reduced kinematic variables to check the effect of weight and diameter of the cylinders, as well as that of the subject. The results show that the original twenty-three degrees of freedom of the hand were reduced to five, which were identified as digit arching, closeness, palmar arching, finger adduction and thumb opposition. Both cylinder diameter and weight significantly affected the precision grasping posture: diameter affects closeness, palmar arching and opposition, while weight affects digit arching, palmar arching and closeness. The power-grasping posture was mainly affected by the cylinder diameter, through digit arching, closeness and opposition. The grasping posture was largely affected by the subject factor and this effect couldn't be attributed only to hand size. In conclusion, this kinematic reduction allowed identifying the effect of the diameter and weight of the cylinders in a comprehensive way, being diameter more important than weight. Copyright © 2016 Elsevier Ltd. All rights reserved.

Kinematically redundant robot manipulators

NASA Technical Reports Server (NTRS)

Baillieul, J.; Hollerbach, J.; Brockett, R.; Martin, D.; Percy, R.; Thomas, R.

1987-01-01

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

Position and force control of coordinated multiple arms

NASA Technical Reports Server (NTRS)

Hayati, Samad A.

1988-01-01

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object are reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented.

Human motion planning based on recursive dynamics and optimal control techniques

NASA Technical Reports Server (NTRS)

Lo, Janzen; Huang, Gang; Metaxas, Dimitris

2002-01-01

This paper presents an efficient optimal control and recursive dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A quasi-Newton nonlinear programming technique (super-linear convergence) is implemented to solve minimum torque-based human motion-planning problems. The explicit analytical gradients needed in the dynamics are derived using a matrix exponential formulation and Lie algebra. Cubic spline functions are used to make the search space for an optimal solution finite. Based on our formulations, our method is well conditioned and robust, in addition to being computationally efficient. To better illustrate the efficiency of our method, we present results of natural looking and physically correct human motions for a variety of human motion tasks involving open and closed loop kinematic chains.

Standing balance tests for screening people with vestibular impairments.

PubMed

Cohen, Helen S; Mulavara, Ajitkumar P; Peters, Brian T; Sangi-Haghpeykar, Haleh; Bloomberg, Jacob J

2014-02-01

To improve the test standards for a version of the Romberg test and to determine whether measuring kinematic variables improved its utility for screening. Healthy controls and patients with benign paroxysmal positional vertigo, postoperative acoustic neuroma resection, and chronic peripheral unilateral weakness were compared. Subjects wore Bluetooth-enabled inertial motion units while standing on the floor or medium-density, compliant foam, with eyes open or closed, with head still or moving in pitch or yaw. Dependent measures were time to perform each test condition, number of head movements made, and kinematic variables. Patients and controls did not differ significantly with eyes open or with eyes closed while on the floor. With eyes closed, on foam, some significant differences were found between patients and controls, especially for subjects older than 59 years. Head movement conditions were more challenging than with the head still. Significantly fewer patients than controls could make enough head movements to obtain kinematic measures. Kinematics indicated that lateral balance control is significantly reduced in these patients compared to controls. Receiver operator characteristics and sensitivity/specificity analyses showed moderately good differences with older subjects. Tests on foam with eyes closed, with head still or moving, may be useful as part of a screening battery for vestibular impairments, especially for older people. 3b. Copyright © 2013 The American Laryngological, Rhinological and Otological Society, Inc.

Synthesis and optimization of four bar mechanism with six design parameters

NASA Astrophysics Data System (ADS)

Jaiswal, Ankur; Jawale, H. P.

2018-04-01

Function generation is synthesis of mechanism for specific task, involves complexity for specially synthesis above five precision of coupler points. Thus pertains to large structural error. The methodology for arriving to better precision solution is to use the optimization technique. Work presented herein considers methods of optimization of structural error in closed kinematic chain with single degree of freedom, for generating functions like log(x), ex, tan(x), sin(x) with five precision points. The equation in Freudenstein-Chebyshev method is used to develop five point synthesis of mechanism. The extended formulation is proposed and results are obtained to verify existing results in literature. Optimization of structural error is carried out using least square approach. Comparative structural error analysis is presented on optimized error through least square method and extended Freudenstein-Chebyshev method.

A forced damped oscillation framework for undulatory swimming provides new insights into how propulsion arises in active and passive swimming.

PubMed

Bhalla, Amneet Pal Singh; Griffith, Boyce E; Patankar, Neelesh A

2013-01-01

A fundamental issue in locomotion is to understand how muscle forcing produces apparently complex deformation kinematics leading to movement of animals like undulatory swimmers. The question of whether complicated muscle forcing is required to create the observed deformation kinematics is central to the understanding of how animals control movement. In this work, a forced damped oscillation framework is applied to a chain-link model for undulatory swimming to understand how forcing leads to deformation and movement. A unified understanding of swimming, caused by muscle contractions ("active" swimming) or by forces imparted by the surrounding fluid ("passive" swimming), is obtained. We show that the forcing triggers the first few deformation modes of the body, which in turn cause the translational motion. We show that relatively simple forcing patterns can trigger seemingly complex deformation kinematics that lead to movement. For given muscle activation, the forcing frequency relative to the natural frequency of the damped oscillator is important for the emergent deformation characteristics of the body. The proposed approach also leads to a qualitative understanding of optimal deformation kinematics for fast swimming. These results, based on a chain-link model of swimming, are confirmed by fully resolved computational fluid dynamics (CFD) simulations. Prior results from the literature on the optimal value of stiffness for maximum speed are explained.

A Forced Damped Oscillation Framework for Undulatory Swimming Provides New Insights into How Propulsion Arises in Active and Passive Swimming

PubMed Central

Bhalla, Amneet Pal Singh; Griffith, Boyce E.; Patankar, Neelesh A.

2013-01-01

A fundamental issue in locomotion is to understand how muscle forcing produces apparently complex deformation kinematics leading to movement of animals like undulatory swimmers. The question of whether complicated muscle forcing is required to create the observed deformation kinematics is central to the understanding of how animals control movement. In this work, a forced damped oscillation framework is applied to a chain-link model for undulatory swimming to understand how forcing leads to deformation and movement. A unified understanding of swimming, caused by muscle contractions (“active” swimming) or by forces imparted by the surrounding fluid (“passive” swimming), is obtained. We show that the forcing triggers the first few deformation modes of the body, which in turn cause the translational motion. We show that relatively simple forcing patterns can trigger seemingly complex deformation kinematics that lead to movement. For given muscle activation, the forcing frequency relative to the natural frequency of the damped oscillator is important for the emergent deformation characteristics of the body. The proposed approach also leads to a qualitative understanding of optimal deformation kinematics for fast swimming. These results, based on a chain-link model of swimming, are confirmed by fully resolved computational fluid dynamics (CFD) simulations. Prior results from the literature on the optimal value of stiffness for maximum speed are explained. PMID:23785272

Physics and the New Games -- or Pretend You're an Atom.

ERIC Educational Resources Information Center

Edge, Ronald D.

1982-01-01

Describes several games in which physics principles are demonstrated using students. These include Pirates Treasure Game (vectors), Three-Meter Dash (kinematics), Knee-Bend Game (energy and power), Wave Game, Reaction Kinematics, Statics-People Pyramids, and games demonstrating nuclear reactions, collisions, electrons in a wire, close packing, and…

Adaptive control of an exoskeleton robot with uncertainties on kinematics and dynamics.

PubMed

Brahmi, Brahim; Saad, Maarouf; Ochoa-Luna, Cristobal; Rahman, Mohammad H

2017-07-01

In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynamics. The adaptation design is based on Time Delay Estimation (TDE). The proposed strategy does not necessitate the well-defined dynamic and kinematic models of the system robot. The updated laws are designed using Lyapunov-function to solve the adaptation problem systematically, proving the close loop stability and ensuring the convergence asymptotically of the outputs tracking errors. Experiments results show the effectiveness and feasibility of JSTDE technique to deal with the variation of the unknown nonlinear dynamics and kinematics of the exoskeleton model.

Closed Circular Chains

ERIC Educational Resources Information Center

Caglayan, Günhan

2016-01-01

A Steiner chain is defined as the sequence of n circles that are all tangent to two given non-intersecting circles. A closed chain, in particular, is one in which every circle in the sequence is tangent to the previous and next circles of the chain. In a closed Steiner chain the first and the "n"th circles of the chain are also tangent…

THE SPLASH SURVEY: KINEMATICS OF ANDROMEDA's INNER SPHEROID

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dorman, Claire E.; Guhathakurta, Puragra; Fardal, Mark A., E-mail: cdorman@ucolick.org, E-mail: raja@ucolick.org, E-mail: fardal@astro.umass.edu

2012-06-20

The combination of large size, high stellar density, high metallicity, and Sersic surface brightness profile of the spheroidal component of the Andromeda galaxy (M31) within R{sub proj} {approx} 20 kpc suggests that it is unlike any subcomponent of the Milky Way. In this work we capitalize on our proximity to and external view of M31 to probe the kinematical properties of this 'inner spheroid'. We employ a Markov chain Monte Carlo (MCMC) analysis of resolved stellar kinematics from Keck/DEIMOS spectra of 5651 red giant branch stars to disentangle M31's inner spheroid from its stellar disk. We measure the mean velocitymore » and dispersion of the spheroid in each of five spatial bins after accounting for a locally cold stellar disk as well as the Giant Southern Stream and associated tidal debris. For the first time, we detect significant spheroid rotation (v{sub rot} {approx} 50 km s{sup -1}) beyond R{sub proj} {approx} 5 kpc. The velocity dispersion decreases from about 140 km s{sup -1} at R{sub proj} = 7 kpc to 120 km s{sup -1} at R{sub proj} = 14 kpc, consistent to 2{sigma} with existing measurements and models. We calculate the probability that a given star is a member of the spheroid and find that the spheroid has a significant presence throughout the spatial extent of our sample. Lastly, we show that the flattening of the spheroid is due to velocity anisotropy in addition to rotation. Though this suggests that the inner spheroid of M31 more closely resembles an elliptical galaxy than a typical spiral galaxy bulge, it should be cautioned that our measurements are much farther out (2-14r{sub eff}) than for the comparison samples.« less

New nonlinear control algorithms for multiple robot arms

NASA Technical Reports Server (NTRS)

Tarn, T. J.; Bejczy, A. K.; Yun, X.

1988-01-01

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Kinematics, controls, and path planning results for a redundant manipulator

NASA Technical Reports Server (NTRS)

Gretz, Bruce; Tilley, Scott W.

1989-01-01

The inverse kinematics solution, a modal position control algorithm, and path planning results for a 7 degree of freedom manipulator are presented. The redundant arm consists of two links with shoulder and elbow joints and a spherical wrist. The inverse kinematics problem for tip position is solved and the redundant joint is identified. It is also shown that a locus of tip positions exists in which there are kinematic limitations on self-motion. A computationally simple modal position control algorithm has been developed which guarantees a nearly constant closed-loop dynamic response throughout the workspace. If all closed-loop poles are assigned to the same location, the algorithm can be implemented with very little computation. To further reduce the required computation, the modal gains are updated only at discrete time intervals. Criteria are developed for the frequency of these updates. For commanding manipulator movements, a 5th-order spline which minimizes jerk provides a smooth tip-space path. Schemes for deriving a corresponding joint-space trajectory are discussed. Modifying the trajectory to avoid joint torque saturation when a tip payload is added is also considered. Simulation results are presented.

Modelling and simulation of the intervertebral movements of the lumbar spine using an inverse kinematic algorithm.

PubMed

Sun, L W; Lee, R Y W; Lu, W; Luk, K D K

2004-11-01

An inverse kinematic model is presented that was employed to determine the optimum intervertebral joint configuration for a given forward-bending posture of the human trunk. The lumbar spine was modelled as an open-end, kinematic chain of five links that represented the five vertebrae (L 1-L5). An optimisation equation with physiological constraints was employed to determine the intervertebral joint configuration. Intervertebral movements were measured from sagittal X-ray films of 22 subjects. The mean difference between the X-ray measurements of intervertebral rotations in the sagittal plane and the values predicted by the kinematic model was less than 1.6 degrees. Pearson product-moment correlation R was used to measure the relationship between the measured and predicted values. The R-values were found to be high, ranging from 0.83 to 0.97, for prediction of intervertebral rotation, but poor for intervertebral translation (R= 0.08-0.67). It is concluded that the inverse kinematic model will be clinically useful for predicting intervertebral rotation when X-ray or invasive measurements are undesirable. It will also be useful to biomechanical modelling, which requires accurate kinematic information as model input data.

A kinematic analysis of the modified flight telerobotic servicer manipulator system

NASA Technical Reports Server (NTRS)

Crane, Carl; Carnahan, Tim; Duffy, Joseph

1992-01-01

A reverse kinematic analysis is presented of a six-DOF subchain of a modified seven-DOF flight telerobotic servicer manipulator system. The six-DOF subchain is designated as a TR-RT chain, which describes the sequence of manipulator joints beginning with the first grounded hook joint (universal joint) T, where the sequence R-R designates a pair of revolute joints with parallel axes. At the outset, it had been thought that the reverse kinematic analysis would be similar to a TTT manipulator previously analyzed, in which the third and fourth joints intersected at a finite point. However, this is shown not the case, and a 16th-degree tan-half-angle polynomial is derived for the TR-RT manipulator.

Head and neck control varies with perturbation acceleration but not jerk: implications for whiplash injuries

PubMed Central

Siegmund, Gunter P; Blouin, Jean-Sébastien

2009-01-01

Recent studies have proposed that a high rate of acceleration onset, i.e. high jerk, during a low-speed vehicle collision increases the risk of whiplash injury by triggering inappropriate muscle responses and/or increasing peak head acceleration. Our goal was to test these proposed mechanisms at realistic jerk levels and then to determine how collision jerk affects the potential for whiplash injuries. Twenty-three seated volunteers (8 F, 15 M) were exposed to multiple experiments involving perturbations simulating the onset of a vehicle collision in eyes open and eyes closed conditions. In the first experiment, subjects experienced five forward and five rearward perturbations to look for the inappropriate muscle responses and ‘floppy’ head kinematics previously attributed to high jerk perturbations. In the second experiment, we independently varied the jerk (∼125 to 3 000 m s−3) and acceleration (∼0.65 to 2.6 g) of the perturbation to assess their effect on the electromyographic (EMG) responses of the sternocleidomastoid (SCM), scalene (SCAL) and cervical paraspinal (PARA) muscles and the kinematic responses of the head and neck. In the first experiment, we found neither inappropriate muscle responses nor floppy head kinematics when subjects had their eyes open, but observed two subjects with floppy head kinematics with eyes closed. In the second experiment, we found that about 70% of the variations in the SCM and SCAL responses and about 95% of the variations in head/neck kinematics were explained by changes in perturbation acceleration in both the eyes open and eyes closed conditions. Less than 2% of the variation in the muscle and kinematic responses was explained by changes in perturbation jerk and, where significant, response amplitudes diminished with increasing jerk. Based on these findings, collision jerk appears to have little or no role in the genesis of whiplash injuries in low-speed vehicle crashes. PMID:19237420

Real time markerless motion tracking using linked kinematic chains

DOEpatents

Luck, Jason P [Arvada, CO; Small, Daniel E [Albuquerque, NM

2007-08-14

A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.

A decoupled recursive approach for constrained flexible multibody system dynamics

NASA Technical Reports Server (NTRS)

Lai, Hao-Jan; Kim, Sung-Soo; Haug, Edward J.; Bae, Dae-Sung

1989-01-01

A variational-vector calculus approach is employed to derive a recursive formulation for dynamic analysis of flexible multibody systems. Kinematic relationships for adjacent flexible bodies are derived in a companion paper, using a state vector notation that represents translational and rotational components simultaneously. Cartesian generalized coordinates are assigned for all body and joint reference frames, to explicitly formulate deformation kinematics under small deformation kinematics and an efficient flexible dynamics recursive algorithm is developed. Dynamic analysis of a closed loop robot is performed to illustrate efficiency of the algorithm.

Kinematics and dynamics of robotic systems with multiple closed loops

NASA Astrophysics Data System (ADS)

Zhang, Chang-De

The kinematics and dynamics of robotic systems with multiple closed loops, such as Stewart platforms, walking machines, and hybrid manipulators, are studied. In the study of kinematics, focus is on the closed-form solutions of the forward position analysis of different parallel systems. A closed-form solution means that the solution is expressed as a polynomial in one variable. If the order of the polynomial is less than or equal to four, the solution has analytical closed-form. First, the conditions of obtaining analytical closed-form solutions are studied. For a Stewart platform, the condition is found to be that one rotational degree of freedom of the output link is decoupled from the other five. Based on this condition, a class of Stewart platforms which has analytical closed-form solution is formulated. Conditions of analytical closed-form solution for other parallel systems are also studied. Closed-form solutions of forward kinematics for walking machines and multi-fingered grippers are then studied. For a parallel system with three three-degree-of-freedom subchains, there are 84 possible ways to select six independent joints among nine joints. These 84 ways can be classified into three categories: Category 3:3:0, Category 3:2:1, and Category 2:2:2. It is shown that the first category has no solutions; the solutions of the second category have analytical closed-form; and the solutions of the last category are higher order polynomials. The study is then extended to a nearly general Stewart platform. The solution is a 20th order polynomial and the Stewart platform has a maximum of 40 possible configurations. Also, the study is extended to a new class of hybrid manipulators which consists of two serially connected parallel mechanisms. In the study of dynamics, a computationally efficient method for inverse dynamics of manipulators based on the virtual work principle is developed. Although this method is comparable with the recursive Newton-Euler method for serial manipulators, its advantage is more noteworthy when applied to parallel systems. An approach of inverse dynamics of a walking machine is also developed, which includes inverse dynamic modeling, foot force distribution, and joint force/torque allocation.

Relative contributions of occlusion, maximum bite force, and chewing cycle kinematics to masticatory performance.

PubMed

Lepley, Casey R; Throckmorton, Gaylord S; Ceen, Richard F; Buschang, Peter H

2011-05-01

The purpose of this study was to explore the contributions of occlusion, maximum bite force, and chewing cycle kinematics to masticatory performance. A prospective cross-sectional study was performed on 30 subjects with Class I occlusion. Masticatory performance was measured with the test food Cuttersil (Heraeus Kulzer, South Bend, Ind) and the fractional-sieve technique. Blu-Mousse (Parkell Biomaterials, Farmingdale, NY) bite registrations were used to measure occlusal contact areas. The American Board of Orthodontics occlusal discrepancies were measured on the subjects' dental models. Maximum bite forces were recorded with a custom transducer, and 3-dimensional chewing cycle kinematics were tracked with an opto-electric computer system and Optotrak software (Northern Digital, Waterloo, Ontario, Canada). Masticatory performance was most closely correlated with occlusal contact area, indicating larger contact areas in subjects with better performance. Occlusal contact area and occlusal discrepancies were also related to bite force and chewing cycle kinematics. Maximum bite force was positively related with masticatory performance. Although masticatory performance is related, both directly and indirectly, to a number of morphologic and functional factors, it is most closely related to occlusal factors. Copyright © 2011 American Association of Orthodontists. Published by Mosby, Inc. All rights reserved.

Remarks towards the spectrum of the Heisenberg spin chain type models

NASA Astrophysics Data System (ADS)

Burdík, Č.; Fuksa, J.; Isaev, A. P.; Krivonos, S. O.; Navrátil, O.

2015-05-01

The integrable close and open chain models can be formulated in terms of generators of the Hecke algebras. In this review paper, we describe in detail the Bethe ansatz for the XXX and the XXZ integrable close chain models. We find the Bethe vectors for two-component and inhomogeneous models. We also find the Bethe vectors for the fermionic realization of the integrable XXX and XXZ close chain models by means of the algebraic and coordinate Bethe ansatz. Special modification of the XXZ closed spin chain model ("small polaron model") is considered. Finally, we discuss some questions relating to the general open Hecke chain models.

Dual gait generative models for human motion estimation from a single camera.

PubMed

Zhang, Xin; Fan, Guoliang

2010-08-01

This paper presents a general gait representation framework for video-based human motion estimation. Specifically, we want to estimate the kinematics of an unknown gait from image sequences taken by a single camera. This approach involves two generative models, called the kinematic gait generative model (KGGM) and the visual gait generative model (VGGM), which represent the kinematics and appearances of a gait by a few latent variables, respectively. The concept of gait manifold is proposed to capture the gait variability among different individuals by which KGGM and VGGM can be integrated together, so that a new gait with unknown kinematics can be inferred from gait appearances via KGGM and VGGM. Moreover, a new particle-filtering algorithm is proposed for dynamic gait estimation, which is embedded with a segmental jump-diffusion Markov Chain Monte Carlo scheme to accommodate the gait variability in a long observed sequence. The proposed algorithm is trained from the Carnegie Mellon University (CMU) Mocap data and tested on the Brown University HumanEva data with promising results.

Model-based extended quaternion Kalman filter to inertial orientation tracking of arbitrary kinematic chains.

PubMed

Szczęsna, Agnieszka; Pruszowski, Przemysław

2016-01-01

Inertial orientation tracking is still an area of active research, especially in the context of out-door, real-time, human motion capture. Existing systems either propose loosely coupled tracking approaches where each segment is considered independently, taking the resulting drawbacks into account, or tightly coupled solutions that are limited to a fixed chain with few segments. Such solutions have no flexibility to change the skeleton structure, are dedicated to a specific set of joints, and have high computational complexity. This paper describes the proposal of a new model-based extended quaternion Kalman filter that allows for estimation of orientation based on outputs from the inertial measurements unit sensors. The filter considers interdependencies resulting from the construction of the kinematic chain so that the orientation estimation is more accurate. The proposed solution is a universal filter that does not predetermine the degree of freedom at the connections between segments of the model. To validation the motion of 3-segments single link pendulum captured by optical motion capture system is used. The next step in the research will be to use this method for inertial motion capture with a human skeleton model.

Oxygen-rich Mira variables: Near-infrared luminosity calibrations. Populations and period-luminosity relations

NASA Technical Reports Server (NTRS)

Alvarez, R.; Mennessier, M.-O.; Barthes, D.; Luri, X.; Mattei, J. A.

1997-01-01

Hipparcos astrometric and kinematical data of oxygen-rich Mira variables are used to calibrate absolute near-infrared magnitudes and kinematic parameters. Three distinct classes of stars with different kinematics and scale heights were identified. The two most significant groups present characteristics close to those usually assigned to extended/thick disk-halo populations and old disk populations, respectively, and thus they may differ by their metallicity abundance. Two parallel period-luminosity relations are found, one for each population. The shift between these relations is interpreted as the consequence of the effects of metallicity abundance on the luminosity.

A Closed-loop Brain Computer Interface to a Virtual Reality Avatar: Gait Adaptation to Visual Kinematic Perturbations

PubMed Central

Luu, Trieu Phat; He, Yongtian; Brown, Samuel; Nakagome, Sho; Contreras-Vidal, Jose L.

2016-01-01

The control of human bipedal locomotion is of great interest to the field of lower-body brain computer interfaces (BCIs) for rehabilitation of gait. While the feasibility of a closed-loop BCI system for the control of a lower body exoskeleton has been recently shown, multi-day closed-loop neural decoding of human gait in a virtual reality (BCI-VR) environment has yet to be demonstrated. In this study, we propose a real-time closed-loop BCI that decodes lower limb joint angles from scalp electroencephalography (EEG) during treadmill walking to control the walking movements of a virtual avatar. Moreover, virtual kinematic perturbations resulting in asymmetric walking gait patterns of the avatar were also introduced to investigate gait adaptation using the closed-loop BCI-VR system over a period of eight days. Our results demonstrate the feasibility of using a closed-loop BCI to learn to control a walking avatar under normal and altered visuomotor perturbations, which involved cortical adaptations. These findings have implications for the development of BCI-VR systems for gait rehabilitation after stroke and for understanding cortical plasticity induced by a closed-loop BCI system. PMID:27713915

NADS versus CAMP closed-course comparison examining "last-second" braking and steering maneuvers under various kinematic conditions

DOT National Transportation Integrated Search

2005-08-01

Drivers last-second braking and last-second steering judgments have been studied extensively by the Crash Avoidance Metrics Partnership (CAMP) Forward Collision Warning (FCW) Requirements project. This previous work was conducted under closed-cour...

A surgical technique for lengthening tight hamstring muscles in patients with low back pain.

PubMed

Anglès, F G; Manubens, X B; Anglès, F C

1997-01-01

An original technique for lengthening primary tight semitendinosus and semimembranosus muscles in their proximal portion is presented. The authors consider that primary shortening of these muscles rebounds on hip biomechanics and on the spine kinematics chain.

Kinematics of ram filter feeding and beat-glide swimming in the northern anchovy Engraulis mordax.

PubMed

Carey, Nicholas; Goldbogen, Jeremy A

2017-08-01

In the dense aquatic environment, the most adept swimmers are streamlined to reduce drag and increase the efficiency of locomotion. However, because they open their mouth to wide gape angles to deploy their filtering apparatus, ram filter feeders apparently switch between diametrically opposite swimming modes: highly efficient, streamlined 'beat-glide' swimming, and ram filter feeding, which has been hypothesized to be a high-cost feeding mode because of presumed increased drag. Ram filter-feeding forage fish are thought to play an important role in the flux of nutrients and energy in upwelling ecosystems; however, the biomechanics and energetics of this feeding mechanism remain poorly understood. We quantified the kinematics of an iconic forage fish, the northern anchovy, Engraulis mordax , during ram filter feeding and non-feeding, mouth-closed beat-glide swimming. Although many kinematic parameters between the two swimming modes were similar, we found that swimming speeds and tailbeat frequencies were significantly lower during ram feeding. Rather than maintain speed with the school, a speed which closely matches theoretical optimum filter-feeding speeds was consistently observed. Beat-glide swimming was characterized by high variability in all kinematic parameters, but variance in kinematic parameters was much lower during ram filter feeding. Under this mode, body kinematics are substantially modified, and E. mordax swims more slowly and with decreased lateral movement along the entire body, but most noticeably in the anterior. Our results suggest that hydrodynamic effects that come with deployment of the filtering anatomy may limit behavioral options during foraging and result in slower swimming speeds during ram filtration. © 2017. Published by The Company of Biologists Ltd.

Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators.

PubMed

Bieze, Thor Morales; Largilliere, Frederick; Kruszewski, Alexandre; Zhang, Zhongkai; Merzouki, Rochdi; Duriez, Christian

2018-06-01

This article presents a modeling methodology and experimental validation for soft manipulators to obtain forward kinematic model (FKM) and inverse kinematic model (IKM) under quasi-static conditions (in the literature, these manipulators are usually classified as continuum robots. However, their main characteristic of interest in this article is that they create motion by deformation, as opposed to the classical use of articulations). It offers a way to obtain the kinematic characteristics of this type of soft robots that is suitable for offline path planning and position control. The modeling methodology presented relies on continuum mechanics, which does not provide analytic solutions in the general case. Our approach proposes a real-time numerical integration strategy based on finite element method with a numerical optimization based on Lagrange multipliers to obtain FKM and IKM. To reduce the dimension of the problem, at each step, a projection of the model to the constraint space (gathering actuators, sensors, and end-effector) is performed to obtain the smallest number possible of mathematical equations to be solved. This methodology is applied to obtain the kinematics of two different manipulators with complex structural geometry. An experimental comparison is also performed in one of the robots, between two other geometric approaches and the approach that is showcased in this article. A closed-loop controller based on a state estimator is proposed. The controller is experimentally validated and its robustness is evaluated using Lypunov stability method.

Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics

NASA Astrophysics Data System (ADS)

Saupe, Florian; Knoblach, Andreas

2015-02-01

Two different approaches for the determination of frequency response functions (FRFs) are used for the non-parametric closed loop identification of a flexible joint industrial manipulator with serial kinematics. The two applied experiment designs are based on low power multisine and high power chirp excitations. The main challenge is to eliminate disturbances of the FRF estimates caused by the numerous nonlinearities of the robot. For the experiment design based on chirp excitations, a simple iterative procedure is proposed which allows exploiting the good crest factor of chirp signals in a closed loop setup. An interesting synergy of the two approaches, beyond validation purposes, is pointed out.

Explaining scene composition using kinematic chains of humans: application to Portuguese tiles history

NASA Astrophysics Data System (ADS)

da Silva, Nuno Pinho; Marques, Manuel; Carneiro, Gustavo; Costeira, João P.

2011-03-01

Painted tile panels (Azulejos) are one of the most representative Portuguese forms of art. Most of these panels are inspired on, and sometimes are literal copies of, famous paintings, or prints of those paintings. In order to study the Azulejos, art historians need to trace these roots. To do that they manually search art image databases, looking for images similar to the representation on the tile panel. This is an overwhelming task that should be automated as much as possible. Among several cues, the pose of humans and the general composition of people in a scene is quite discriminative. We build an image descriptor, combining the kinematic chain of each character, and contextual information about their composition, in the scene. Given a query image, our system computes its similarity profile over the database. Using nearest neighbors in the space of the descriptors, the proposed system retrieves the prints that most likely inspired the tiles' work.

Manufacture of threads with variable pitch by using noncircular gears

NASA Astrophysics Data System (ADS)

Slătineanu, L.; Dodun, O.; Coteață, M.; Coman, I.; Nagîț, G.; Beșliu, I.

2016-08-01

There are mechanical equipments in which shafts threaded with variable pitch are included. Such a shaft could be met in the case of worm specific to the double enveloping worm gearing. Over the years, the researchers investigated some possibilities to geometrically define and manufacture the shaft zones characterized by a variable pitch. One of the methods able to facilitate the manufacture of threads with variable pitch is based on the use of noncircular gears in the threading kinematic chain for threading by cutting. In order to design the noncircular gears, the mathematical law of pitch variation has to be known. An analysis of pitch variation based on geometrical considerations was developed in the case of a double enveloping globoid worm. Subsequently, on the bases of a proper situation, a numerical model was determined. In this way, an approximately law of pitch variation was determined and it could be taken into consideration when designing the noncircular gears included in the kinematic chain of the cutting machine tool.

Visually driven chaining of elementary swim patterns into a goal-directed motor sequence: a virtual reality study of zebrafish prey capture.

PubMed

Trivedi, Chintan A; Bollmann, Johann H

2013-01-01

Prey capture behavior critically depends on rapid processing of sensory input in order to track, approach, and catch the target. When using vision, the nervous system faces the problem of extracting relevant information from a continuous stream of input in order to detect and categorize visible objects as potential prey and to select appropriate motor patterns for approach. For prey capture, many vertebrates exhibit intermittent locomotion, in which discrete motor patterns are chained into a sequence, interrupted by short periods of rest. Here, using high-speed recordings of full-length prey capture sequences performed by freely swimming zebrafish larvae in the presence of a single paramecium, we provide a detailed kinematic analysis of first and subsequent swim bouts during prey capture. Using Fourier analysis, we show that individual swim bouts represent an elementary motor pattern. Changes in orientation are directed toward the target on a graded scale and are implemented by an asymmetric tail bend component superimposed on this basic motor pattern. To further investigate the role of visual feedback on the efficiency and speed of this complex behavior, we developed a closed-loop virtual reality setup in which minimally restrained larvae recapitulated interconnected swim patterns closely resembling those observed during prey capture in freely moving fish. Systematic variation of stimulus properties showed that prey capture is initiated within a narrow range of stimulus size and velocity. Furthermore, variations in the delay and location of swim triggered visual feedback showed that the reaction time of secondary and later swims is shorter for stimuli that appear within a narrow spatio-temporal window following a swim. This suggests that the larva may generate an expectation of stimulus position, which enables accelerated motor sequencing if the expectation is met by appropriate visual feedback.

Unbiased, scalable sampling of protein loop conformations from probabilistic priors.

PubMed

Zhang, Yajia; Hauser, Kris

2013-01-01

Protein loops are flexible structures that are intimately tied to function, but understanding loop motion and generating loop conformation ensembles remain significant computational challenges. Discrete search techniques scale poorly to large loops, optimization and molecular dynamics techniques are prone to local minima, and inverse kinematics techniques can only incorporate structural preferences in adhoc fashion. This paper presents Sub-Loop Inverse Kinematics Monte Carlo (SLIKMC), a new Markov chain Monte Carlo algorithm for generating conformations of closed loops according to experimentally available, heterogeneous structural preferences. Our simulation experiments demonstrate that the method computes high-scoring conformations of large loops (>10 residues) orders of magnitude faster than standard Monte Carlo and discrete search techniques. Two new developments contribute to the scalability of the new method. First, structural preferences are specified via a probabilistic graphical model (PGM) that links conformation variables, spatial variables (e.g., atom positions), constraints and prior information in a unified framework. The method uses a sparse PGM that exploits locality of interactions between atoms and residues. Second, a novel method for sampling sub-loops is developed to generate statistically unbiased samples of probability densities restricted by loop-closure constraints. Numerical experiments confirm that SLIKMC generates conformation ensembles that are statistically consistent with specified structural preferences. Protein conformations with 100+ residues are sampled on standard PC hardware in seconds. Application to proteins involved in ion-binding demonstrate its potential as a tool for loop ensemble generation and missing structure completion.

Unbiased, scalable sampling of protein loop conformations from probabilistic priors

PubMed Central

2013-01-01

Background Protein loops are flexible structures that are intimately tied to function, but understanding loop motion and generating loop conformation ensembles remain significant computational challenges. Discrete search techniques scale poorly to large loops, optimization and molecular dynamics techniques are prone to local minima, and inverse kinematics techniques can only incorporate structural preferences in adhoc fashion. This paper presents Sub-Loop Inverse Kinematics Monte Carlo (SLIKMC), a new Markov chain Monte Carlo algorithm for generating conformations of closed loops according to experimentally available, heterogeneous structural preferences. Results Our simulation experiments demonstrate that the method computes high-scoring conformations of large loops (>10 residues) orders of magnitude faster than standard Monte Carlo and discrete search techniques. Two new developments contribute to the scalability of the new method. First, structural preferences are specified via a probabilistic graphical model (PGM) that links conformation variables, spatial variables (e.g., atom positions), constraints and prior information in a unified framework. The method uses a sparse PGM that exploits locality of interactions between atoms and residues. Second, a novel method for sampling sub-loops is developed to generate statistically unbiased samples of probability densities restricted by loop-closure constraints. Conclusion Numerical experiments confirm that SLIKMC generates conformation ensembles that are statistically consistent with specified structural preferences. Protein conformations with 100+ residues are sampled on standard PC hardware in seconds. Application to proteins involved in ion-binding demonstrate its potential as a tool for loop ensemble generation and missing structure completion. PMID:24565175

Classification of lumbopelvic-hip complex instability on kinematics amongst female team handball athletes.

PubMed

Gilmer, Gabrielle G; Gascon, Sarah S; Oliver, Gretchen D

2018-01-09

The purpose of this study was to examine how lumbopelvic-hip complex (LPHC) stability, via knee valgus, affects throwing kinematics during a team handball jump shot. LPHC stability was classified using the value of knee valgus at the instant of landing from the jump shot. If a participant displayed knee valgus of 17° or greater, they were classified as LPHC unstable. Stable and unstable athletes' throwing mechanics were compared. Twenty female team handball athletes (26.5±4.7years; 1.75±0.04m; 74.4±6.4kg; experience level: 4.8±4.1 years) participated. An electromagnetic tracking system was used to collect kinematic data while participants performed three 9-m jump shots. The variables considered were kinematics of the pelvis, trunk, and shoulder; and segmental speeds of the pelvis, torso, humeral, forearm, and ball velocities. Data were analyzed across four events: foot contact, maximum shoulder external rotation, ball release, and maximum shoulder internal rotation. Statistically significant differences were found between groups in pelvis, trunk, humerus, and forearm velocities at all events (p≤0.05). Specifically, the unstable group displayed significantly slower speeds. These findings suggest the difference in throwing mechanics are affected by LPHC instability for this select group of female team handball athletes. These differences infer an increased risk of injury in the upper and lower extremities when landing from a jump shot because of the energy losses throughout the kinetic chain and lack of utilization of the entire chain. It is recommended that further investigations also consider muscle activation throughout the throwing motion. Copyright © 2018 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

Analogue modelling of inclined, brittle-ductile transpression: Testing analytical models through natural shear zones (external Betics)

NASA Astrophysics Data System (ADS)

Barcos, L.; Díaz-Azpiroz, M.; Balanyá, J. C.; Expósito, I.; Jiménez-Bonilla, A.; Faccenna, C.

2016-07-01

The combination of analytical and analogue models gives new opportunities to better understand the kinematic parameters controlling the evolution of transpression zones. In this work, we carried out a set of analogue models using the kinematic parameters of transpressional deformation obtained by applying a general triclinic transpression analytical model to a tabular-shaped shear zone in the external Betic Chain (Torcal de Antequera massif). According to the results of the analytical model, we used two oblique convergence angles to reproduce the main structural and kinematic features of structural domains observed within the Torcal de Antequera massif (α = 15° for the outer domains and α = 30° for the inner domain). Two parallel inclined backstops (one fixed and the other mobile) reproduce the geometry of the shear zone walls of the natural case. Additionally, we applied digital particle image velocimetry (PIV) method to calculate the velocity field of the incremental deformation. Our results suggest that the spatial distribution of the main structures observed in the Torcal de Antequera massif reflects different modes of strain partitioning and strain localization between two domain types, which are related to the variation in the oblique convergence angle and the presence of steep planar velocity - and rheological - discontinuities (the shear zone walls in the natural case). In the 15° model, strain partitioning is simple and strain localization is high: a single narrow shear zone is developed close and parallel to the fixed backstop, bounded by strike-slip faults and internally deformed by R and P shears. In the 30° model, strain partitioning is strong, generating regularly spaced oblique-to-the backstops thrusts and strike-slip faults. At final stages of the 30° experiment, deformation affects the entire model box. Our results show that the application of analytical modelling to natural transpressive zones related to upper crustal deformation facilitates to constrain the geometrical parameters of analogue models.

Determination of capacity of single-toggle jaw crusher, taking into account parameters of kinematics of its working mechanism

NASA Astrophysics Data System (ADS)

Golikov, N. S.; Timofeev, I. P.

2018-05-01

Efficiency increase of jaw crushers makes the foundation of rational kinematics and stiffening of the elements of the machine possible. Foundation of rational kinematics includes establishment of connection between operation mode parameters of the crusher and its technical characteristics. The main purpose of this research is just to establish such a connection. Therefore this article shows analytical procedure of getting connection between operation mode parameters of the crusher and its capacity. Theoretical, empirical and semi-empirical methods of capacity determination of a single-toggle jaw crusher are given, taking into account physico-mechanical properties of crushed material and kinematics of the working mechanism. When developing a mathematical model, the method of closed vector polygons by V. A. Zinoviev was used. The expressions obtained in the article give an opportunity to solve important scientific and technical problems, connected with finding the rational kinematics of the jaw crusher mechanism, carrying out a comparative assessment of different crushers and giving the recommendations about updating the available jaw crushers.

Measurement of masses in the toverline{t} system by kinematic endpoints in pp collisions at √{s}=7 TeV

NASA Astrophysics Data System (ADS)

Chatrchyan, S.; Khachatryan, V.; Sirunyan, A. M.; Tumasyan, A.; Adam, W.; Bergauer, T.; Dragicevic, M.; Erö, J.; Fabjan, C.; Friedl, M.; Frühwirth, R.; Ghete, V. M.; Hörmann, N.; Hrubec, J.; Jeitler, M.; Kiesenhofer, W.; Knünz, V.; Krammer, M.; Krätschmer, I.; Liko, D.; Mikulec, I.; Rabady, D.; Rahbaran, B.; Rohringer, C.; Rohringer, H.; Schöfbeck, R.; Strauss, J.; Taurok, A.; Treberer-Treberspurg, W.; Waltenberger, W.; Wulz, C.-E.; Mossolov, V.; Shumeiko, N.; Suarez Gonzalez, J.; Alderweireldt, S.; Bansal, M.; Bansal, S.; Cornelis, T.; De Wolf, E. A.; Janssen, X.; Knutsson, A.; Luyckx, S.; Mucibello, L.; Ochesanu, S.; Roland, B.; Rougny, R.; Van Haevermaet, H.; Van Mechelen, P.; Van Remortel, N.; Van Spilbeeck, A.; Blekman, F.; Blyweert, S.; D'Hondt, J.; Kalogeropoulos, A.; Keaveney, J.; Maes, M.; Olbrechts, A.; Tavernier, S.; Van Doninck, W.; Van Mulders, P.; Van Onsem, G. P.; Villella, I.; Clerbaux, B.; De Lentdecker, G.; Gay, A. P. R.; Hreus, T.; Léonard, A.; Marage, P. E.; Mohammadi, A.; Reis, T.; Thomas, L.; Vander Velde, C.; Vanlaer, P.; Wang, J.; Adler, V.; Beernaert, K.; Benucci, L.; Cimmino, A.; Costantini, S.; Dildick, S.; Garcia, G.; Klein, B.; Lellouch, J.; Marinov, A.; Mccartin, J.; Ocampo Rios, A. A.; Ryckbosch, D.; Sigamani, M.; Strobbe, N.; Thyssen, F.; Tytgat, M.; Walsh, S.; Yazgan, E.; Zaganidis, N.; Basegmez, S.; Bruno, G.; Castello, R.; Caudron, A.; Ceard, L.; Delaere, C.; du Pree, T.; Favart, D.; Forthomme, L.; Giammanco, A.; Hollar, J.; Lemaitre, V.; Liao, J.; Militaru, O.; Nuttens, C.; Pagano, D.; Pin, A.; Piotrzkowski, K.; Popov, A.; Selvaggi, M.; Vizan Garcia, J. M.; Beliy, N.; Caebergs, T.; Daubie, E.; Hammad, G. H.; Alves, G. A.; Correa Martins Junior, M.; Martins, T.; Pol, M. E.; Souza, M. H. G.; Aldá Júnior, W. L.; Carvalho, W.; Chinellato, J.; Custódio, A.; Da Costa, E. M.; De Jesus Damiao, D.; De Oliveira Martins, C.; Fonseca De Souza, S.; Malbouisson, H.; Malek, M.; Matos Figueiredo, D.; Mundim, L.; Nogima, H.; Prado Da Silva, W. L.; Santoro, A.; Soares Jorge, L.; Sznajder, A.; Tonelli Manganote, E. J.; Vilela Pereira, A.; Anjos, T. S.; Bernardes, C. A.; Dias, F. A.; Fernandez Perez Tomei, T. R.; Gregores, E. M.; Lagana, C.; Marinho, F.; Mercadante, P. G.; Novaes, S. F.; Padula, Sandra S.; Genchev, V.; Iaydjiev, P.; Piperov, S.; Rodozov, M.; Stoykova, S.; Sultanov, G.; Tcholakov, V.; Trayanov, R.; Vutova, M.; Dimitrov, A.; Hadjiiska, R.; Kozhuharov, V.; Litov, L.; Pavlov, B.; Petkov, P.; Bian, J. G.; Chen, G. M.; Chen, H. S.; Jiang, C. H.; Liang, D.; Liang, S.; Meng, X.; Tao, J.; Wang, J.; Wang, X.; Wang, Z.; Xiao, H.; Xu, M.; Asawatangtrakuldee, C.; Ban, Y.; Guo, Y.; Li, Q.; Li, W.; Liu, S.; Mao, Y.; Qian, S. J.; Wang, D.; Zhang, L.; Zou, W.; Avila, C.; Carrillo Montoya, C. A.; Gomez, J. P.; Gomez Moreno, B.; Sanabria, J. C.; Godinovic, N.; Lelas, D.; Plestina, R.; Polic, D.; Puljak, I.; Antunovic, Z.; Kovac, M.; Brigljevic, V.; Duric, S.; Kadija, K.; Luetic, J.; Mekterovic, D.; Morovic, S.; Tikvica, L.; Attikis, A.; Mavromanolakis, G.; Mousa, J.; Nicolaou, C.; Ptochos, F.; Razis, P. A.; Finger, M.; Finger, M.; Assran, Y.; Ellithi Kamel, A.; Mahmoud, M. A.; Mahrous, A.; Radi, A.; Kadastik, M.; Müntel, M.; Murumaa, M.; Raidal, M.; Rebane, L.; Tiko, A.; Eerola, P.; Fedi, G.; Voutilainen, M.; Härkönen, J.; Karimäki, V.; Kinnunen, R.; Kortelainen, M. J.; Lampén, T.; Lassila-Perini, K.; Lehti, S.; Lindén, T.; Luukka, P.; Mäenpää, T.; Peltola, T.; Tuominen, E.; Tuominiemi, J.; Tuovinen, E.; Wendland, L.; Korpela, A.; Tuuva, T.; Besancon, M.; Choudhury, S.; Couderc, F.; Dejardin, M.; Denegri, D.; Fabbro, B.; Faure, J. L.; Ferri, F.; Ganjour, S.; Givernaud, A.; Gras, P.; Hamel de Monchenault, G.; Jarry, P.; Locci, E.; Malcles, J.; Millischer, L.; Nayak, A.; Rander, J.; Rosowsky, A.; Titov, M.; Baffioni, S.; Beaudette, F.; Benhabib, L.; Bianchini, L.; Bluj, M.; Busson, P.; Charlot, C.; Daci, N.; Dahms, T.; Dalchenko, M.; Dobrzynski, L.; Florent, A.; Granier de Cassagnac, R.; Haguenauer, M.; Miné, P.; Mironov, C.; Naranjo, I. N.; Nguyen, M.; Ochando, C.; Paganini, P.; Sabes, D.; Salerno, R.; Sirois, Y.; Veelken, C.; Zabi, A.; Agram, J.-L.; Andrea, J.; Bloch, D.; Bodin, D.; Brom, J.-M.; Chabert, E. C.; Collard, C.; Conte, E.; Drouhin, F.; Fontaine, J.-C.; Gelé, D.; Goerlach, U.; Goetzmann, C.; Juillot, P.; Le Bihan, A.-C.; Van Hove, P.; Beauceron, S.; Beaupere, N.; Boudoul, G.; Brochet, S.; Chasserat, J.; Chierici, R.; Contardo, D.; Depasse, P.; El Mamouni, H.; Fay, J.; Gascon, S.; Gouzevitch, M.; Ille, B.; Kurca, T.; Lethuillier, M.; Mirabito, L.; Perries, S.; Sgandurra, L.; Sordini, V.; Tschudi, Y.; Vander Donckt, M.; Verdier, P.; Viret, S.; Tsamalaidze, Z.; Autermann, C.; Beranek, S.; Calpas, B.; Edelhoff, M.; Feld, L.; Heracleous, N.; Hindrichs, O.; Klein, K.; Merz, J.; Ostapchuk, A.; Perieanu, A.; Raupach, F.; Sammet, J.; Schael, S.; Sprenger, D.; Weber, H.; Wittmer, B.; Zhukov, V.; Ata, M.; Caudron, J.; Dietz-Laursonn, E.; Duchardt, D.; Erdmann, M.; Fischer, R.; Güth, A.; Hebbeker, T.; Heidemann, C.; Hoepfner, K.; Klingebiel, D.; Kreuzer, P.; Merschmeyer, M.; Meyer, A.; Olschewski, M.; Padeken, K.; Papacz, P.; Pieta, H.; Reithler, H.; Schmitz, S. A.; Sonnenschein, L.; Steggemann, J.; Teyssier, D.; Thüer, S.; Weber, M.; Cherepanov, V.; Erdogan, Y.; Flügge, G.; Geenen, H.; Geisler, M.; Haj Ahmad, W.; Hoehle, F.; Kargoll, B.; Kress, T.; Kuessel, Y.; Lingemann, J.; Nowack, A.; Nugent, I. M.; Perchalla, L.; Pooth, O.; Stahl, A.; Aldaya Martin, M.; Asin, I.; Bartosik, N.; Behr, J.; Behrenhoff, W.; Behrens, U.; Bergholz, M.; Bethani, A.; Borras, K.; Burgmeier, A.; Cakir, A.; Calligaris, L.; Campbell, A.; Costanza, F.; Dammann, D.; Diez Pardos, C.; Dorland, T.; Eckerlin, G.; Eckstein, D.; Flucke, G.; Geiser, A.; Glushkov, I.; Gunnellini, P.; Habib, S.; Hauk, J.; Hellwig, G.; Jung, H.; Kasemann, M.; Katsas, P.; Kleinwort, C.; Kluge, H.; Krämer, M.; Krücker, D.; Kuznetsova, E.; Lange, W.; Leonard, J.; Lipka, K.; Lohmann, W.; Lutz, B.; Mankel, R.; Marfin, I.; Marienfeld, M.; Melzer-Pellmann, I.-A.; Meyer, A. B.; Mnich, J.; Mussgiller, A.; Naumann-Emme, S.; Novgorodova, O.; Nowak, F.; Olzem, J.; Perrey, H.; Petrukhin, A.; Pitzl, D.; Raspereza, A.; Ribeiro Cipriano, P. M.; Riedl, C.; Ron, E.; Rosin, M.; Salfeld-Nebgen, J.; Schmidt, R.; Schoerner-Sadenius, T.; Sen, N.; Stein, M.; Walsh, R.; Wissing, C.; Blobel, V.; Enderle, H.; Erfle, J.; Gebbert, U.; Görner, M.; Gosselink, M.; Haller, J.; Heine, K.; Höing, R. S.; Kaussen, G.; Kirschenmann, H.; Klanner, R.; Lange, J.; Peiffer, T.; Pietsch, N.; Rathjens, D.; Sander, C.; Schettler, H.; Schleper, P.; Schlieckau, E.; Schmidt, A.; Schröder, M.; Schum, T.; Seidel, M.; Sibille, J.; Sola, V.; Stadie, H.; Steinbrück, G.; Thomsen, J.; Vanelderen, L.; Barth, C.; Baus, C.; Berger, J.; Böser, C.; Chwalek, T.; De Boer, W.; Descroix, A.; Dierlamm, A.; Feindt, M.; Guthoff, M.; Hackstein, C.; Hartmann, F.; Hauth, T.; Heinrich, M.; Held, H.; Hoffmann, K. H.; Husemann, U.; Katkov, I.; Komaragiri, J. R.; Kornmayer, A.; Lobelle Pardo, P.; Martschei, D.; Mueller, S.; Müller, Th.; Niegel, M.; Nürnberg, A.; Oberst, O.; Ott, J.; Quast, G.; Rabbertz, K.; Ratnikov, F.; Ratnikova, N.; Röcker, S.; Schilling, F.-P.; Schott, G.; Simonis, H. J.; Stober, F. M.; Troendle, D.; Ulrich, R.; Wagner-Kuhr, J.; Wayand, S.; Weiler, T.; Zeise, M.; Anagnostou, G.; Daskalakis, G.; Geralis, T.; Kesisoglou, S.; Kyriakis, A.; Loukas, D.; Markou, A.; Markou, C.; Ntomari, E.; Gouskos, L.; Mertzimekis, T. J.; Panagiotou, A.; Saoulidou, N.; Stiliaris, E.; Aslanoglou, X.; Evangelou, I.; Flouris, G.; Foudas, C.; Kokkas, P.; Manthos, N.; Papadopoulos, I.; Paradas, E.; Bencze, G.; Hajdu, C.; Hidas, P.; Horvath, D.; Radics, B.; Sikler, F.; Veszpremi, V.; Vesztergombi, G.; Zsigmond, A. J.; Beni, N.; Czellar, S.; Molnar, J.; Palinkas, J.; Szillasi, Z.; Karancsi, J.; Raics, P.; Trocsanyi, Z. L.; Ujvari, B.; Beri, S. B.; Bhatnagar, V.; Dhingra, N.; Gupta, R.; Kaur, M.; Mehta, M. Z.; Mittal, M.; Nishu, N.; Saini, L. K.; Sharma, A.; Singh, J. B.; Kumar, Ashok; Kumar, Arun; Ahuja, S.; Bhardwaj, A.; Choudhary, B. C.; Malhotra, S.; Naimuddin, M.; Ranjan, K.; Saxena, P.; Sharma, V.; Shivpuri, R. K.; Banerjee, S.; Bhattacharya, S.; Chatterjee, K.; Dutta, S.; Gomber, B.; Jain, Sa.; Jain, Sh.; Khurana, R.; Modak, A.; Mukherjee, S.; Roy, D.; Sarkar, S.; Sharan, M.; Abdulsalam, A.; Dutta, D.; Kailas, S.; Kumar, V.; Mohanty, A. K.; Pant, L. M.; Shukla, P.; Topkar, A.; Aziz, T.; Chatterjee, R. M.; Ganguly, S.; Guchait, M.; Gurtu, A.; Maity, M.; Majumder, G.; Mazumdar, K.; Mohanty, G. B.; Parida, B.; Sudhakar, K.; Wickramage, N.; Banerjee, S.; Dugad, S.; Arfaei, H.; Bakhshiansohi, H.; Etesami, S. M.; Fahim, A.; Hesari, H.; Jafari, A.; Khakzad, M.; Mohammadi Najafabadi, M.; Paktinat Mehdiabadi, S.; Safarzadeh, B.; Zeinali, M.; Grunewald, M.; Abbrescia, M.; Barbone, L.; Calabria, C.; Chhibra, S. S.; Colaleo, A.; Creanza, D.; De Filippis, N.; De Palma, M.; Fiore, L.; Iaselli, G.; Maggi, G.; Maggi, M.; Marangelli, B.; My, S.; Nuzzo, S.; Pacifico, N.; Pompili, A.; Pugliese, G.; Selvaggi, G.; Silvestris, L.; Singh, G.; Venditti, R.; Verwilligen, P.; Zito, G.; Abbiendi, G.; Benvenuti, A. C.; Bonacorsi, D.; Braibant-Giacomelli, S.; Brigliadori, L.; Campanini, R.; Capiluppi, P.; Castro, A.; Cavallo, F. R.; Cuffiani, M.; Dallavalle, G. M.; Fabbri, F.; Fanfani, A.; Fasanella, D.; Giacomelli, P.; Grandi, C.; Guiducci, L.; Marcellini, S.; Masetti, G.; Meneghelli, M.; Montanari, A.; Navarria, F. L.; Odorici, F.; Perrotta, A.; Primavera, F.; Rossi, A. M.; Rovelli, T.; Siroli, G. P.; Tosi, N.; Travaglini, R.; Albergo, S.; Chiorboli, M.; Costa, S.; Potenza, R.; Tricomi, A.; Tuve, C.; Barbagli, G.; Ciulli, V.; Civinini, C.; D'Alessandro, R.; Focardi, E.; Frosali, S.; Gallo, E.; Gonzi, S.; Lenzi, P.; Meschini, M.; Paoletti, S.; Sguazzoni, G.; Tropiano, A.; Benussi, L.; Bianco, S.; Fabbri, F.; Piccolo, D.; Fabbricatore, P.; Musenich, R.; Tosi, S.; Benaglia, A.; De Guio, F.; Di Matteo, L.; Fiorendi, S.; Gennai, S.; Ghezzi, A.; Govoni, P.; Lucchini, M. T.; Malvezzi, S.; Manzoni, R. A.; Martelli, A.; Massironi, A.; Menasce, D.; Moroni, L.; Paganoni, M.; Pedrini, D.; Ragazzi, S.; Redaelli, N.; Tabarelli de Fatis, T.; Buontempo, S.; Cavallo, N.; De Cosa, A.; Fabozzi, F.; Iorio, A. O. M.; Lista, L.; Meola, S.; Merola, M.; Paolucci, P.; Azzi, P.; Bacchetta, N.; Bellan, P.; Bisello, D.; Branca, A.; Carlin, R.; Checchia, P.; Dorigo, T.; Galanti, M.; Gasparini, F.; Gasparini, U.; Giubilato, P.; Gozzelino, A.; Kanishchev, K.; Lacaprara, S.; Lazzizzera, I.; Margoni, M.; Meneguzzo, A. T.; Michelotto, M.; Montecassiano, F.; Nespolo, M.; Pazzini, J.; Pegoraro, M.; Pozzobon, N.; Ronchese, P.; Simonetto, F.; Torassa, E.; Tosi, M.; Zotto, P.; Zumerle, G.; Gabusi, M.; Ratti, S. P.; Riccardi, C.; Vitulo, P.; Biasini, M.; Bilei, G. M.; Fanò, L.; Lariccia, P.; Mantovani, G.; Menichelli, M.; Nappi, A.; Romeo, F.; Saha, A.; Santocchia, A.; Spiezia, A.; Androsov, K.; Azzurri, P.; Bagliesi, G.; Boccali, T.; Broccolo, G.; Castaldi, R.; D'Agnolo, R. T.; Dell'Orso, R.; Fiori, F.; Foà, L.; Giassi, A.; Kraan, A.; Ligabue, F.; Lomtadze, T.; Martini, L.; Messineo, A.; Palla, F.; Rizzi, A.; Serban, A. T.; Spagnolo, P.; Squillacioti, P.; Tenchini, R.; Tonelli, G.; Venturi, A.; Verdini, P. G.; Vernieri, C.; Barone, L.; Cavallari, F.; Del Re, D.; Diemoz, M.; Fanelli, C.; Grassi, M.; Longo, E.; Margaroli, F.; Meridiani, P.; Micheli, F.; Nourbakhsh, S.; Organtini, G.; Paramatti, R.; Rahatlou, S.; Soffi, L.; Amapane, N.; Arcidiacono, R.; Argiro, S.; Arneodo, M.; Biino, C.; Cartiglia, N.; Casasso, S.; Costa, M.; De Remigis, P.; Demaria, N.; Mariotti, C.; Maselli, S.; Migliore, E.; Monaco, V.; Musich, M.; Obertino, M. M.; Pastrone, N.; Pelliccioni, M.; Potenza, A.; Romero, A.; Ruspa, M.; Sacchi, R.; Solano, A.; Staiano, A.; Tamponi, U.; Belforte, S.; Candelise, V.; Casarsa, M.; Cossutti, F.; Della Ricca, G.; Gobbo, B.; La Licata, C.; Marone, M.; Montanino, D.; Penzo, A.; Schizzi, A.; Zanetti, A.; Kim, T. Y.; Nam, S. K.; Chang, S.; Kim, D. H.; Kim, G. N.; Kim, J. E.; Kong, D. J.; Oh, Y. D.; Park, H.; Son, D. C.; Kim, J. Y.; Kim, Zero J.; Song, S.; Choi, S.; Gyun, D.; Hong, B.; Jo, M.; Kim, H.; Kim, T. J.; Lee, K. S.; Moon, D. H.; Park, S. K.; Roh, Y.; Choi, M.; Kim, J. H.; Park, C.; Park, I. C.; Park, S.; Ryu, G.; Choi, Y.; Choi, Y. K.; Goh, J.; Kim, M. S.; Kwon, E.; Lee, B.; Lee, J.; Lee, S.; Seo, H.; Yu, I.; Grigelionis, I.; Juodagalvis, A.; Castilla-Valdez, H.; De La Cruz-Burelo, E.; Heredia-de La Cruz, I.; Lopez-Fernandez, R.; Martínez-Ortega, J.; Sanchez-Hernandez, A.; Villasenor-Cendejas, L. M.; Carrillo Moreno, S.; Vazquez Valencia, F.; Salazar Ibarguen, H. A.; Casimiro Linares, E.; Morelos Pineda, A.; Reyes-Santos, M. A.; Krofcheck, D.; Bell, A. J.; Butler, P. H.; Doesburg, R.; Reucroft, S.; Silverwood, H.; Ahmad, M.; Asghar, M. I.; Butt, J.; Hoorani, H. R.; Khalid, S.; Khan, W. A.; Khurshid, T.; Qazi, S.; Shah, M. A.; Shoaib, M.; Bialkowska, H.; Boimska, B.; Frueboes, T.; Górski, M.; Kazana, M.; Nawrocki, K.; Romanowska-Rybinska, K.; Szleper, M.; Wrochna, G.; Zalewski, P.; Brona, G.; Bunkowski, K.; Cwiok, M.; Dominik, W.; Doroba, K.; Kalinowski, A.; Konecki, M.; Krolikowski, J.; Misiura, M.; Wolszczak, W.; Almeida, N.; Bargassa, P.; David, A.; Faccioli, P.; Ferreira Parracho, P. G.; Gallinaro, M.; Seixas, J.; Varela, J.; Vischia, P.; Bunin, P.; Gavrilenko, M.; Golutvin, I.; Gorbunov, I.; Kamenev, A.; Karjavin, V.; Konoplyanikov, V.; Kozlov, G.; Lanev, A.; Malakhov, A.; Moisenz, P.; Palichik, V.; Perelygin, V.; Shmatov, S.; Smirnov, V.; Volodko, A.; Zarubin, A.; Evstyukhin, S.; Golovtsov, V.; Ivanov, Y.; Kim, V.; Levchenko, P.; Murzin, V.; Oreshkin, V.; Smirnov, I.; Sulimov, V.; Uvarov, L.; Vavilov, S.; Vorobyev, A.; Vorobyev, An.; Andreev, Yu.; Dermenev, A.; Gninenko, S.; Golubev, N.; Kirsanov, M.; Krasnikov, N.; Matveev, V.; Pashenkov, A.; Tlisov, D.; Toropin, A.; Epshteyn, V.; Erofeeva, M.; Gavrilov, V.; Lychkovskaya, N.; Popov, V.; Safronov, G.; Semenov, S.; Spiridonov, A.; Stolin, V.; Vlasov, E.; Zhokin, A.; Andreev, V.; Azarkin, M.; Dremin, I.; Kirakosyan, M.; Leonidov, A.; Mesyats, G.; Rusakov, S. V.; Vinogradov, A.; Belyaev, A.; Boos, E.; Bunichev, V.; Dubinin, M.; Dudko, L.; Ershov, A.; Gribushin, A.; Klyukhin, V.; Lokhtin, I.; Markina, A.; Obraztsov, S.; Perfilov, M.; Savrin, V.; Tsirova, N.; Azhgirey, I.; Bayshev, I.; Bitioukov, S.; Kachanov, V.; Kalinin, A.; Konstantinov, D.; Krychkine, V.; Petrov, V.; Ryutin, R.; Sobol, A.; Tourtchanovitch, L.; Troshin, S.; Tyurin, N.; Uzunian, A.; Volkov, A.; Adzic, P.; Ekmedzic, M.; Krpic, D.; Milosevic, J.; Aguilar-Benitez, M.; Alcaraz Maestre, J.; Battilana, C.; Calvo, E.; Cerrada, M.; Chamizo Llatas, M.; Colino, N.; De La Cruz, B.; Delgado Peris, A.; Domínguez Vázquez, D.; Fernandez Bedoya, C.; Fernández Ramos, J. P.; Ferrando, A.; Flix, J.; Fouz, M. C.; Garcia-Abia, P.; Gonzalez Lopez, O.; Goy Lopez, S.; Hernandez, J. M.; Josa, M. I.; Merino, G.; Navarro De Martino, E.; Puerta Pelayo, J.; Quintario Olmeda, A.; Redondo, I.; Romero, L.; Santaolalla, J.; Soares, M. S.; Willmott, C.; Albajar, C.; de Trocóniz, J. F.; Brun, H.; Cuevas, J.; Fernandez Menendez, J.; Folgueras, S.; Gonzalez Caballero, I.; Lloret Iglesias, L.; Piedra Gomez, J.; Brochero Cifuentes, J. A.; Cabrillo, I. J.; Calderon, A.; Chuang, S. H.; Duarte Campderros, J.; Fernandez, M.; Gomez, G.; Gonzalez Sanchez, J.; Graziano, A.; Jorda, C.; Lopez Virto, A.; Marco, J.; Marco, R.; Martinez Rivero, C.; Matorras, F.; Munoz Sanchez, F. J.; Rodrigo, T.; Rodríguez-Marrero, A. Y.; Ruiz-Jimeno, A.; Scodellaro, L.; Vila, I.; Vilar Cortabitarte, R.; Abbaneo, D.; Auffray, E.; Auzinger, G.; Bachtis, M.; Baillon, P.; Ball, A. H.; Barney, D.; Bendavid, J.; Benitez, J. F.; Bernet, C.; Bianchi, G.; Bloch, P.; Bocci, A.; Bonato, A.; Bondu, O.; Botta, C.; Breuker, H.; Camporesi, T.; Cerminara, G.; Christiansen, T.; Coarasa Perez, J. A.; Colafranceschi, S.; d'Enterria, D.; Dabrowski, A.; De Roeck, A.; De Visscher, S.; Di Guida, S.; Dobson, M.; Dupont-Sagorin, N.; Elliott-Peisert, A.; Eugster, J.; Funk, W.; Georgiou, G.; Giffels, M.; Gigi, D.; Gill, K.; Giordano, D.; Girone, M.; Giunta, M.; Glege, F.; Gomez-Reino Garrido, R.; Gowdy, S.; Guida, R.; Hammer, J.; Hansen, M.; Harris, P.; Hartl, C.; Hegner, B.; Hinzmann, A.; Innocente, V.; Janot, P.; Kaadze, K.; Karavakis, E.; Kousouris, K.; Krajczar, K.; Lecoq, P.; Lee, Y.-J.; Lourenço, C.; Magini, N.; Malberti, M.; Malgeri, L.; Mannelli, M.; Masetti, L.; Meijers, F.; Mersi, S.; Meschi, E.; Moser, R.; Mulders, M.; Musella, P.; Nesvold, E.; Orsini, L.; Palencia Cortezon, E.; Perez, E.; Perrozzi, L.; Petrilli, A.; Pfeiffer, A.; Pierini, M.; Pimiä, M.; Piparo, D.; Polese, G.; Quertenmont, L.; Racz, A.; Reece, W.; Rodrigues Antunes, J.; Rolandi, G.; Rovelli, C.; Rovere, M.; Sakulin, H.; Santanastasio, F.; Schäfer, C.; Schwick, C.; Segoni, I.; Sekmen, S.; Sharma, A.; Siegrist, P.; Silva, P.; Simon, M.; Sphicas, P.; Spiga, D.; Stoye, M.; Tsirou, A.; Veres, G. I.; Vlimant, J. R.; Wöhri, H. K.; Worm, S. D.; Zeuner, W. D.; Bertl, W.; Deiters, K.; Erdmann, W.; Gabathuler, K.; Horisberger, R.; Ingram, Q.; Kaestli, H. C.; König, S.; Kotlinski, D.; Langenegger, U.; Meier, F.; Renker, D.; Rohe, T.; Bachmair, F.; Bäni, L.; Bortignon, P.; Buchmann, M. A.; Casal, B.; Chanon, N.; Deisher, A.; Dissertori, G.; Dittmar, M.; Donegà, M.; Dünser, M.; Eller, P.; Grab, C.; Hits, D.; Lecomte, P.; Lustermann, W.; Marini, A. C.; Martinez Ruiz del Arbol, P.; Mohr, N.; Moortgat, F.; Nägeli, C.; Nef, P.; Nessi-Tedaldi, F.; Pandolfi, F.; Pape, L.; Pauss, F.; Peruzzi, M.; Ronga, F. J.; Rossini, M.; Sala, L.; Sanchez, A. K.; Starodumov, A.; Stieger, B.; Takahashi, M.; Tauscher, L.; Thea, A.; Theofilatos, K.; Treille, D.; Urscheler, C.; Wallny, R.; Weber, H. A.; Amsler, C.; Chiochia, V.; Favaro, C.; Ivova Rikova, M.; Kilminster, B.; Millan Mejias, B.; Otiougova, P.; Robmann, P.; Snoek, H.; Taroni, S.; Tupputi, S.; Verzetti, M.; Cardaci, M.; Chen, K. H.; Ferro, C.; Kuo, C. M.; Li, S. W.; Lin, W.; Lu, Y. J.; Volpe, R.; Yu, S. S.; Bartalini, P.; Chang, P.; Chang, Y. H.; Chang, Y. W.; Chao, Y.; Chen, K. F.; Dietz, C.; Grundler, U.; Hou, W.-S.; Hsiung, Y.; Kao, K. Y.; Lei, Y. J.; Lu, R.-S.; Majumder, D.; Petrakou, E.; Shi, X.; Shiu, J. G.; Tzeng, Y. M.; Wang, M.; Asavapibhop, B.; Suwonjandee, N.; Adiguzel, A.; Bakirci, M. N.; Cerci, S.; Dozen, C.; Dumanoglu, I.; Eskut, E.; Girgis, S.; Gokbulut, G.; Gurpinar, E.; Hos, I.; Kangal, E. E.; Kayis Topaksu, A.; Onengut, G.; Ozdemir, K.; Ozturk, S.; Polatoz, A.; Sogut, K.; Sunar Cerci, D.; Tali, B.; Topakli, H.; Vergili, M.; Akin, I. V.; Aliev, T.; Bilin, B.; Bilmis, S.; Deniz, M.; Gamsizkan, H.; Guler, A. M.; Karapinar, G.; Ocalan, K.; Ozpineci, A.; Serin, M.; Sever, R.; Surat, U. E.; Yalvac, M.; Zeyrek, M.; Gülmez, E.; Isildak, B.; Kaya, M.; Kaya, O.; Ozkorucuklu, S.; Sonmez, N.; Bahtiyar, H.; Barlas, E.; Cankocak, K.; Günaydin, Y. O.; Vardarlı, F. I.; Yücel, M.; Levchuk, L.; Sorokin, P.; Brooke, J. J.; Clement, E.; Cussans, D.; Flacher, H.; Frazier, R.; Goldstein, J.; Grimes, M.; Heath, G. P.; Heath, H. F.; Kreczko, L.; Metson, S.; Newbold, D. M.; Nirunpong, K.; Poll, A.; Senkin, S.; Smith, V. J.; Williams, T.; Basso, L.; Bell, K. W.; Belyaev, A.; Brew, C.; Brown, R. M.; Cockerill, D. J. A.; Coughlan, J. A.; Harder, K.; Harper, S.; Jackson, J.; Olaiya, E.; Petyt, D.; Radburn-Smith, B. C.; Shepherd-Themistocleous, C. H.; Tomalin, I. R.; Womersley, W. J.; Bainbridge, R.; Buchmuller, O.; Burton, D.; Colling, D.; Cripps, N.; Cutajar, M.; Dauncey, P.; Davies, G.; Della Negra, M.; Ferguson, W.; Fulcher, J.; Futyan, D.; Gilbert, A.; Guneratne Bryer, A.; Hall, G.; Hatherell, Z.; Hays, J.; Iles, G.; Jarvis, M.; Karapostoli, G.; Kenzie, M.; Lane, R.; Lucas, R.; Lyons, L.; Magnan, A.-M.; Marrouche, J.; Mathias, B.; Nandi, R.; Nash, J.; Nikitenko, A.; Pela, J.; Pesaresi, M.; Petridis, K.; Pioppi, M.; Raymond, D. M.; Rogerson, S.; Rose, A.; Seez, C.; Sharp, P.; Sparrow, A.; Tapper, A.; Vazquez Acosta, M.; Virdee, T.; Wakefield, S.; Wardle, N.; Whyntie, T.; Chadwick, M.; Cole, J. E.; Hobson, P. R.; Khan, A.; Kyberd, P.; Leggat, D.; Leslie, D.; Martin, W.; Reid, I. D.; Symonds, P.; Teodorescu, L.; Turner, M.; Dittmann, J.; Hatakeyama, K.; Kasmi, A.; Liu, H.; Scarborough, T.; Charaf, O.; Cooper, S. I.; Henderson, C.; Rumerio, P.; Avetisyan, A.; Bose, T.; Fantasia, C.; Heister, A.; Lawson, P.; Lazic, D.; Rohlf, J.; Sperka, D.; St. John, J.; Sulak, L.; Alimena, J.; Bhattacharya, S.; Christopher, G.; Cutts, D.; Demiragli, Z.; Ferapontov, A.; Garabedian, A.; Heintz, U.; Kukartsev, G.; Laird, E.; Landsberg, G.; Luk, M.; Narain, M.; Segala, M.; Sinthuprasith, T.; Speer, T.; Breedon, R.; Breto, G.; Calderon De La Barca Sanchez, M.; Chauhan, S.; Chertok, M.; Conway, J.; Conway, R.; Cox, P. T.; Erbacher, R.; Gardner, M.; Houtz, R.; Ko, W.; Kopecky, A.; Lander, R.; Mall, O.; Miceli, T.; Nelson, R.; Pellett, D.; Ricci-Tam, F.; Rutherford, B.; Searle, M.; Smith, J.; Squires, M.; Tripathi, M.; Yohay, R.; Andreev, V.; Cline, D.; Cousins, R.; Erhan, S.; Everaerts, P.; Farrell, C.; Felcini, M.; Hauser, J.; Ignatenko, M.; Jarvis, C.; Rakness, G.; Schlein, P.; Traczyk, P.; Valuev, V.; Weber, M.; Babb, J.; Clare, R.; Dinardo, M. E.; Ellison, J.; Gary, J. W.; Giordano, F.; Hanson, G.; Liu, H.; Long, O. R.; Luthra, A.; Nguyen, H.; Paramesvaran, S.; Sturdy, J.; Sumowidagdo, S.; Wilken, R.; Wimpenny, S.; Andrews, W.; Branson, J. G.; Cerati, G. B.; Cittolin, S.; Evans, D.; Holzner, A.; Kelley, R.; Lebourgeois, M.; Letts, J.; Macneill, I.; Mangano, B.; Padhi, S.; Palmer, C.; Petrucciani, G.; Pieri, M.; Sani, M.; Sharma, V.; Simon, S.; Sudano, E.; Tadel, M.; Tu, Y.; Vartak, A.; Wasserbaech, S.; Würthwein, F.; Yagil, A.; Yoo, J.; Barge, D.; Bellan, R.; Campagnari, C.; D'Alfonso, M.; Danielson, T.; Dishaw, A.; Flowers, K.; Geffert, P.; George, C.; Golf, F.; Incandela, J.; Justus, C.; Kalavase, P.; Kovalskyi, D.; Krutelyov, V.; Lowette, S.; Magaña Villalba, R.; Mccoll, N.; Pavlunin, V.; Ribnik, J.; Richman, J.; Rossin, R.; Stuart, D.; To, W.; West, C.; Apresyan, A.; Bornheim, A.; Bunn, J.; Chen, Y.; Di Marco, E.; Duarte, J.; Kcira, D.; Ma, Y.; Mott, A.; Newman, H. B.; Rogan, C.; Spiropulu, M.; Timciuc, V.; Veverka, J.; Wilkinson, R.; Xie, S.; Yang, Y.; Zhu, R. Y.; Azzolini, V.; Calamba, A.; Carroll, R.; Ferguson, T.; Iiyama, Y.; Jang, D. W.; Liu, Y. F.; Paulini, M.; Russ, J.; Vogel, H.; Vorobiev, I.; Cumalat, J. P.; Drell, B. R.; Ford, W. T.; Gaz, A.; Luiggi Lopez, E.; Nauenberg, U.; Smith, J. G.; Stenson, K.; Ulmer, K. A.; Wagner, S. R.; Alexander, J.; Chatterjee, A.; Eggert, N.; Gibbons, L. K.; Hopkins, W.; Khukhunaishvili, A.; Kreis, B.; Mirman, N.; Nachman, B.; Nicolas Kaufman, G.; Patterson, J. R.; Ryd, A.; Salvati, E.; Sun, W.; Teo, W. D.; Thom, J.; Thompson, J.; Tucker, J.; Weng, Y.; Winstrom, L.; Wittich, P.; Winn, D.; Abdullin, S.; Albrow, M.; Anderson, J.; Apollinari, G.; Bauerdick, L. A. T.; Beretvas, A.; Berryhill, J.; Bhat, P. C.; Burkett, K.; Butler, J. N.; Chetluru, V.; Cheung, H. W. K.; Chlebana, F.; Cihangir, S.; Elvira, V. D.; Fisk, I.; Freeman, J.; Gao, Y.; Gottschalk, E.; Gray, L.; Green, D.; Gutsche, O.; Harris, R. M.; Hirschauer, J.; Hooberman, B.; Jindariani, S.; Johnson, M.; Joshi, U.; Klima, B.; Kunori, S.; Kwan, S.; Linacre, J.; Lincoln, D.; Lipton, R.; Lykken, J.; Maeshima, K.; Marraffino, J. M.; Martinez Outschoorn, V. I.; Maruyama, S.; Mason, D.; McBride, P.; Mishra, K.; Mrenna, S.; Musienko, Y.; Newman-Holmes, C.; O'Dell, V.; Prokofyev, O.; Sexton-Kennedy, E.; Sharma, S.; Spalding, W. J.; Spiegel, L.; Taylor, L.; Tkaczyk, S.; Tran, N. V.; Uplegger, L.; Vaandering, E. W.; Vidal, R.; Whitmore, J.; Wu, W.; Yang, F.; Yun, J. C.; Acosta, D.; Avery, P.; Bourilkov, D.; Chen, M.; Cheng, T.; Das, S.; De Gruttola, M.; Di Giovanni, G. P.; Dobur, D.; Drozdetskiy, A.; Field, R. D.; Fisher, M.; Fu, Y.; Furic, I. K.; Hugon, J.; Kim, B.; Konigsberg, J.; Korytov, A.; Kropivnitskaya, A.; Kypreos, T.; Low, J. F.; Matchev, K.; Milenovic, P.; Mitselmakher, G.; Muniz, L.; Remington, R.; Rinkevicius, A.; Skhirtladze, N.; Snowball, M.; Yelton, J.; Zakaria, M.; Gaultney, V.; Hewamanage, S.; Lebolo, L. M.; Linn, S.; Markowitz, P.; Martinez, G.; Rodriguez, J. L.; Adams, T.; Askew, A.; Bochenek, J.; Chen, J.; Diamond, B.; Gleyzer, S. V.; Haas, J.; Hagopian, S.; Hagopian, V.; Johnson, K. F.; Prosper, H.; Veeraraghavan, V.; Weinberg, M.; Baarmand, M. M.; Dorney, B.; Hohlmann, M.; Kalakhety, H.; Yumiceva, F.; Adams, M. R.; Apanasevich, L.; Bazterra, V. E.; Betts, R. R.; Bucinskaite, I.; Callner, J.; Cavanaugh, R.; Evdokimov, O.; Gauthier, L.; Gerber, C. E.; Hofman, D. J.; Khalatyan, S.; Kurt, P.; Lacroix, F.; O'Brien, C.; Silkworth, C.; Strom, D.; Turner, P.; Varelas, N.; Akgun, U.; Albayrak, E. A.; Bilki, B.; Clarida, W.; Dilsiz, K.; Duru, F.; Griffiths, S.; Merlo, J.-P.; Mermerkaya, H.; Mestvirishvili, A.; Moeller, A.; Nachtman, J.; Newsom, C. R.; Ogul, H.; Onel, Y.; Ozok, F.; Sen, S.; Tan, P.; Tiras, E.; Wetzel, J.; Yetkin, T.; Yi, K.; Barnett, B. A.; Blumenfeld, B.; Bolognesi, S.; Fehling, D.; Giurgiu, G.; Gritsan, A. V.; Hu, G.; Maksimovic, P.; Swartz, M.; Whitbeck, A.; Baringer, P.; Bean, A.; Benelli, G.; Kenny, R. P., III; Murray, M.; Noonan, D.; Sanders, S.; Stringer, R.; Wood, J. S.; Barfuss, A. F.; Chakaberia, I.; Ivanov, A.; Khalil, S.; Makouski, M.; Maravin, Y.; Shrestha, S.; Svintradze, I.; Gronberg, J.; Lange, D.; Rebassoo, F.; Wright, D.; Baden, A.; Calvert, B.; Eno, S. C.; Gomez, J. A.; Hadley, N. J.; Kellogg, R. G.; Kolberg, T.; Lu, Y.; Marionneau, M.; Mignerey, A. C.; Pedro, K.; Peterman, A.; Skuja, A.; Temple, J.; Tonjes, M. B.; Tonwar, S. C.; Apyan, A.; Bauer, G.; Busza, W.; Butz, E.; Cali, I. A.; Chan, M.; Dutta, V.; Gomez Ceballos, G.; Goncharov, M.; Kim, Y.; Klute, M.; Lai, Y. S.; Levin, A.; Luckey, P. D.; Ma, T.; Nahn, S.; Paus, C.; Ralph, D.; Roland, C.; Roland, G.; Stephans, G. S. F.; Stöckli, F.; Sumorok, K.; Sung, K.; Velicanu, D.; Wolf, R.; Wyslouch, B.; Yang, M.; Yilmaz, Y.; Yoon, A. S.; Zanetti, M.; Zhukova, V.; Dahmes, B.; De Benedetti, A.; Franzoni, G.; Gude, A.; Haupt, J.; Kao, S. C.; Klapoetke, K.; Kubota, Y.; Mans, J.; Pastika, N.; Rusack, R.; Sasseville, M.; Singovsky, A.; Tambe, N.; Turkewitz, J.; Cremaldi, L. M.; Kroeger, R.; Perera, L.; Rahmat, R.; Sanders, D. A.; Summers, D.; Avdeeva, E.; Bloom, K.; Bose, S.; Claes, D. R.; Dominguez, A.; Eads, M.; Gonzalez Suarez, R.; Keller, J.; Kravchenko, I.; Lazo-Flores, J.; Malik, S.; Snow, G. R.; Dolen, J.; Godshalk, A.; Iashvili, I.; Jain, S.; Kharchilava, A.; Kumar, A.; Rappoccio, S.; Wan, Z.; Alverson, G.; Barberis, E.; Baumgartel, D.; Chasco, M.; Haley, J.; Nash, D.; Orimoto, T.; Trocino, D.; Wood, D.; Zhang, J.; Anastassov, A.; Hahn, K. A.; Kubik, A.; Lusito, L.; Mucia, N.; Odell, N.; Pollack, B.; Pozdnyakov, A.; Schmitt, M.; Stoynev, S.; Velasco, M.; Won, S.; Berry, D.; Brinkerhoff, A.; Chan, K. M.; Hildreth, M.; Jessop, C.; Karmgard, D. J.; Kolb, J.; Lannon, K.; Luo, W.; Lynch, S.; Marinelli, N.; Morse, D. M.; Pearson, T.; Planer, M.; Ruchti, R.; Slaunwhite, J.; Valls, N.; Wayne, M.; Wolf, M.; Antonelli, L.; Bylsma, B.; Durkin, L. S.; Hill, C.; Hughes, R.; Kotov, K.; Ling, T. Y.; Puigh, D.; Rodenburg, M.; Smith, G.; Vuosalo, C.; Williams, G.; Winer, B. L.; Wolfe, H.; Berry, E.; Elmer, P.; Halyo, V.; Hebda, P.; Hegeman, J.; Hunt, A.; Jindal, P.; Koay, S. A.; Lopes Pegna, D.; Lujan, P.; Marlow, D.; Medvedeva, T.; Mooney, M.; Olsen, J.; Piroué, P.; Quan, X.; Raval, A.; Saka, H.; Stickland, D.; Tully, C.; Werner, J. S.; Zenz, S. C.; Zuranski, A.; Brownson, E.; Lopez, A.; Mendez, H.; Ramirez Vargas, J. E.; Alagoz, E.; Benedetti, D.; Bolla, G.; Bortoletto, D.; De Mattia, M.; Everett, A.; Hu, Z.; Jones, M.; Koybasi, O.; Kress, M.; Leonardo, N.; Maroussov, V.; Merkel, P.; Miller, D. H.; Neumeister, N.; Shipsey, I.; Silvers, D.; Svyatkovskiy, A.; Vidal Marono, M.; Yoo, H. D.; Zablocki, J.; Zheng, Y.; Guragain, S.; Parashar, N.; Adair, A.; Akgun, B.; Ecklund, K. M.; Geurts, F. J. M.; Li, W.; Padley, B. P.; Redjimi, R.; Roberts, J.; Zabel, J.; Betchart, B.; Bodek, A.; Covarelli, R.; de Barbaro, P.; Demina, R.; Eshaq, Y.; Ferbel, T.; Garcia-Bellido, A.; Goldenzweig, P.; Han, J.; Harel, A.; Miner, D. C.; Petrillo, G.; Vishnevskiy, D.; Zielinski, M.; Bhatti, A.; Ciesielski, R.; Demortier, L.; Goulianos, K.; Lungu, G.; Malik, S.; Mesropian, C.; Arora, S.; Barker, A.; Chou, J. P.; Contreras-Campana, C.; Contreras-Campana, E.; Duggan, D.; Ferencek, D.; Gershtein, Y.; Gray, R.; Halkiadakis, E.; Hidas, D.; Lath, A.; Panwalkar, S.; Park, M.; Patel, R.; Rekovic, V.; Robles, J.; Rose, K.; Salur, S.; Schnetzer, S.; Seitz, C.; Somalwar, S.; Stone, R.; Walker, M.; Cerizza, G.; Hollingsworth, M.; Spanier, S.; Yang, Z. C.; York, A.; Eusebi, R.; Flanagan, W.; Gilmore, J.; Kamon, T.; Khotilovich, V.; Montalvo, R.; Osipenkov, I.; Pakhotin, Y.; Perloff, A.; Roe, J.; Safonov, A.; Sakuma, T.; Suarez, I.; Tatarinov, A.; Toback, D.; Akchurin, N.; Damgov, J.; Dragoiu, C.; Dudero, P. R.; Jeong, C.; Kovitanggoon, K.; Lee, S. W.; Libeiro, T.; Volobouev, I.; Appelt, E.; Delannoy, A. G.; Greene, S.; Gurrola, A.; Johns, W.; Maguire, C.; Mao, Y.; Melo, A.; Sharma, M.; Sheldon, P.; Snook, B.; Tuo, S.; Velkovska, J.; Arenton, M. W.; Balazs, M.; Boutle, S.; Cox, B.; Francis, B.; Goodell, J.; Hirosky, R.; Ledovskoy, A.; Lin, C.; Neu, C.; Wood, J.; Gollapinni, S.; Harr, R.; Karchin, P. E.; Kottachchi Kankanamge Don, C.; Lamichhane, P.; Sakharov, A.; Anderson, M.; Belknap, D. A.; Borrello, L.; Carlsmith, D.; Cepeda, M.; Dasu, S.; Friis, E.; Grogg, K. S.; Grothe, M.; Hall-Wilton, R.; Herndon, M.; Hervé, A.; Klabbers, P.; Klukas, J.; Lanaro, A.; Lazaridis, C.; Loveless, R.; Mohapatra, A.; Mozer, M. U.; Ojalvo, I.; Pierro, G. A.; Ross, I.; Savin, A.; Smith, W. H.; Swanson, J.

2013-07-01

A simultaneous measurement of the top-quark, W-boson, and neutrino masses is reported for events selected in the dilepton final state from a data sample corresponding to an integrated luminosity of 5.0 fb-1 collected by the CMS experiment in pp collisions at . The analysis is based on endpoint determinations in kinematic distributions. When the neutrino and W-boson masses are constrained to their world-average values, a top-quark mass value of is obtained. When such constraints are not used, the three particle masses are obtained in a simultaneous fit. In this unconstrained mode the study serves as a test of mass determination methods that may be used in beyond standard model physics scenarios where several masses in a decay chain may be unknown and undetected particles lead to underconstrained kinematics.

Quasi-free Proton Knockout Reactions on the Oxygen Isotopic Chain

NASA Astrophysics Data System (ADS)

Atar, Leyla; Aumann, Thomas; Bertulani, Carlos; Paschalis, Stefanos; R3B Collaboration

2017-09-01

It is well known from electron-induced knockout data that the single-particle (SP) strength is reduced to about 60-70% for stable nuclei in comparison to the independent particle model due to the presence of short- and long-range correlations. This finding has been confirmed by nuclear knockout reactions using stable and exotic beams, however, with a strong dependency on the proton-neutron asymmetry. The observed strong reduction of SP cross sections for the deeply bound valence nucleons in asymmetric nuclei is theoretically not understood. To understand this dependency quantitatively a complementary approach, quasi-free (QF) knockout reactions in inverse kinematics, is introduced. We have performed a systematic study of spectroscopic strength of oxygen isotopes using QF (p,2p) knockout reactions in complete kinematics at the R3B/LAND setup at GSI with secondary beams containing 13-24O. The oxygen isotopic chain covers a large variation of separ ation energies, which allow a systematic study of SF with respect to isospin asymmetry. We will present results on the (p,2p) cross sections for the entire oxygen isotopic chain obtained from a single experiment. By comparison with the Eikonal reaction theory the SF and reduction factors will be presented. The work is supported by GSI-TU Darmstadt cooperation and BMBF project 05P15RDFN1.

Running accuracy analysis of a 3-RRR parallel kinematic machine considering the deformations of the links

NASA Astrophysics Data System (ADS)

Wang, Liping; Jiang, Yao; Li, Tiemin

2014-09-01

Parallel kinematic machines have drawn considerable attention and have been widely used in some special fields. However, high precision is still one of the challenges when they are used for advanced machine tools. One of the main reasons is that the kinematic chains of parallel kinematic machines are composed of elongated links that can easily suffer deformations, especially at high speeds and under heavy loads. A 3-RRR parallel kinematic machine is taken as a study object for investigating its accuracy with the consideration of the deformations of its links during the motion process. Based on the dynamic model constructed by the Newton-Euler method, all the inertia loads and constraint forces of the links are computed and their deformations are derived. Then the kinematic errors of the machine are derived with the consideration of the deformations of the links. Through further derivation, the accuracy of the machine is given in a simple explicit expression, which will be helpful to increase the calculating speed. The accuracy of this machine when following a selected circle path is simulated. The influences of magnitude of the maximum acceleration and external loads on the running accuracy of the machine are investigated. The results show that the external loads will deteriorate the accuracy of the machine tremendously when their direction coincides with the direction of the worst stiffness of the machine. The proposed method provides a solution for predicting the running accuracy of the parallel kinematic machines and can also be used in their design optimization as well as selection of suitable running parameters.

Hallux valgus surgery affects kinematic parameters during gait

PubMed Central

Klugarova, J.; Janura, M.; Svoboda, Z.; Sos, Z.; Stergiou, N.; Klugar, M.

2017-01-01

Background The aim of our study was to compare spatiotemporal parameters and lower limb and pelvis kinematics during the walking in patients with hallux valgus before and after surgery and in relation to a control group. Methods Seventeen females with hallux valgus, who underwent first metatarsal osteotomy, constituted our experimental group. The control group consisted of thirteen females. Kinematic data during walking were obtained using the Vicon MX system. Findings Our results showed that hallux valgus before surgery affects spatiotemporal parameters and lower limb and pelvis kinematics during walking. Hallux valgus surgery further increased the differences that were present before surgery. Specifically after hallux valgus surgery, the walking speed decreased even more (p=0.09, η2= 0.19) while step time increased (p=0.002, η2=0.44) on both legs. The maximum ankle plantar flexion of the operated leg during toe off decreased to a greater extend (p=0.03, η2=0.26). The asymmetry in the hip and the pelvis movements in the frontal plane (present preoperatively) persisted after surgery. Interpretation Hallux valgus is not an isolated problem of the first ray, which could be just surgically addressed by correcting the foot’s alignment. It is a long-term progressive malfunction of the foot affecting the entire kinematic chain of the lower extremity. PMID:27792950

Potential for Non-Contact ACL Injury Between Step-Close-Jump and Hop-Jump Tasks.

PubMed

Wang, Li-I; Gu, Chin-Yi; Chen, Wei-Ling; Chang, Mu-San

2010-01-01

This study aimed to compare the kinematics and kinetics during the landing of hop-jump and step-close-jump movements in order to provide further inferring that the potential risk of ACL injuries. Eleven elite male volleyball players were recruited to perform hop-jump and step-close-jump tasks. Lower extremity kinematics and ground reaction forces during landing in stop-jump tasks were recorded. Lower extremity kinetics was calculated by using an inverse dynamic process. Step-close-jump tasks demonstrated smaller peak proximal tibia anterior shear forces during the landing phase. In step-close-jump tasks, increasing hip joint angular velocity during initial foot-ground contact decreased peak posterior ground reaction force during the landing phase, which theoretically could reduce the risk of ACL injury. Key pointsThe different landing techniques required for these two stop-jump tasks do not necessarily affect the jump height.Hop-jump decreased the hip joint angular velocity at initial foot contact with ground, which could lead to an increasing peak posterior GRF during the landing phase.Hop-jump decreased hip and knee joint angular flexion displacement during the landing, which could increase the peak vertical loading rate during the landing phase.

Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

PubMed

Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

2013-08-01

In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

Durophagy in sharks: feeding mechanics of the hammerhead Sphyrna tiburo.

PubMed

Wilga, C D; Motta, P J

2000-09-01

This study investigates the motor pattern and head movements during feeding of a durophagus shark, the bonnethead Sphyrna tiburo, using electromyography and simultaneous high-speed video. Sphyrna tiburo feeds almost exclusively on hard-shelled crabs, with shrimp and fish taken occasionally. It captures crabs by ram feeding, then processes or reduces the prey by crushing it between molariform teeth, finally transporting the prey by suction for swallowing. The prey-crushing mechanism is distinct from that of ram or bite capture and suction transport. This crushing mechanism is accomplished by altering the duration of jaw adductor muscle activity and modifying jaw kinematics by the addition of a second jaw-closing phase. In crushing events, motor activity of the jaw adductor muscles continues (biting of the prey occurs as the jaws close and continues after the jaws have closed) throughout a second jaw-closing phase, unlike capture and transport events during which motor activity (biting) ceases at jaw closure. Sphyrna tiburo is able to take advantage of a resource (hard prey) that is not readily available to most sharks by utilizing a suite of durophagous characteristics: molariform teeth, a modified jaw protrusor muscle, altered jaw adductor activity and modified jaw kinematics. Sphyrna tiburo is a specialist feeder on crab prey as demonstrated by the lack of differences in kinematic or motor patterns when offered prey of differing hardness and its apparent lack of ability to modulate its behavior when feeding on other prey. Functional patterns are altered and coupled with modifications in dental and jaw morphology to produce diverse crushing behaviors in elasmobranchs.

Influence of Tennis Racquet Kinematics on Ball Topspin Angular Velocity and Accuracy during the Forehand Groundstroke.

PubMed

Kwon, Sunku; Pfister, Robin; Hager, Ronald L; Hunter, Iain; Seeley, Matthew K

2017-12-01

Forehand groundstroke effectiveness is important for tennis success. Ball topspin angular velocity (TAV) and accuracy are important for forehand groundstroke effectiveness, and have been extensively studied, previously; despite previous, quality studies, it was unclear whether certain racquet kinematics relate to ball TAV and shot accuracy during the forehand groundstroke. This study evaluated potential relationships between (1) ball TAV and (2) forehand accuracy, and five measures of racquet kinematics: racquet head impact angle (i.e., closed or open face), horizontal and vertical racquet head velocity before impact, racquet head trajectory (resultant velocity direction, relative to horizontal) before impact, and hitting zone length (quasi-linear displacement, immediately before and after impact). Thirteen collegiate-level tennis players hit forehand groundstrokes in a biomechanics laboratory, where racquet kinematics and ball TAV were measured, and on a tennis court, to assess accuracy. Correlational statistics were used to evaluate potential relationships between racquet kinematics, and ball TAV (mixed model) and forehand accuracy (between-subjects model; α = 0.05). We observed an average (1) racquet head impact angle, (2) racquet head trajectory before impact, relative to horizontal, (3) racquet head horizontal velocity before impact, (4) racquet head vertical velocity before impact, and (5) hitting zone length of 80.4 ± 3.6˚, 18.6 ± 4.3˚, 15.4 ± 1.4 m·s -1 , 6.6 ± 2.2 m·s -1 , and 79.8 ± 8.6 mm, respectively; and an average ball TAV of 969 ± 375 revolutions per minute. Only racquet head impact angle and racquet head vertical velocity, before impact, significantly correlated with ball TAV (p < 0.01). None of the observed racquet kinematics significantly correlated to the measures of forehand accuracy. These results confirmed mechanical logic and indicate that increased ball TAV is associated with a more closed racquet head impact angle (ranging from 70 to 85˚, relative to the ground) and increased racquet head vertical velocity before impact.

Forelimb kinematics during swimming in the pig-nosed turtle, Carettochelys insculpta, compared with other turtle taxa: rowing versus flapping, convergence versus intermediacy

PubMed Central

Rivera, Angela R. V.; Rivera, Gabriel; Blob, Richard W.

2013-01-01

SUMMARY Animals that swim using appendages do so by way of rowing and/or flapping motions. Often considered discrete categories, rowing and flapping are more appropriately regarded as points along a continuum. The pig-nosed turtle, Carettochelys insculpta, is unusual in that it is the only freshwater turtle to have limbs modified into flippers and swim via synchronous forelimb motions that resemble dorsoventral flapping, traits that evolved independently from their presence in sea turtles. We used high-speed videography to quantify forelimb kinematics in C. insculpta and a closely related, highly aquatic rower (Apalone ferox). Comparisons of our new data with those previously collected for a generalized freshwater rower (Trachemys scripta) and a flapping sea turtle (Caretta caretta) allow us to: (1) more precisely quantify and characterize the range of limb motions used by flappers versus rowers, and (2) assess whether the synchronous forelimb motions of C. insculpta can be classified as flapping (i.e. whether they exhibit forelimb kinematics and angles of attack more similar to closely related rowing species or more distantly related flapping sea turtles). We found that the forelimb kinematics of previously recognized rowers (T. scripta and A. ferox) were most similar to each other, but that those of C. insculpta were more similar to rowers than to flapping C. caretta. Nevertheless, of the three freshwater species, C. insculpta was most similar to flapping C. caretta. ‘Flapping’ in C. insculpta is achieved through humeral kinematics very different from those in C. caretta, with C. insculpta exhibiting significantly more anteroposterior humeral motion and protraction, and significantly less dorsoventral humeral motion and depression. Based on several intermediate kinematic parameters and angle of attack data, C. insculpta may in fact represent a synchronous rower or hybrid rower-flapper, suggesting that traditional views of C. insculpta as a flapper should be revised. PMID:23125335

Accuracy Analysis for Automatic Orientation of a Tumbling Oblique Viewing Sensor System

NASA Astrophysics Data System (ADS)

Stebner, K.; Wieden, A.

2014-03-01

Dynamic camera systems with moving parts are difficult to handle in photogrammetric workflow, because it is not ensured that the dynamics are constant over the recording period. Minimum changes of the camera's orientation greatly influence the projection of oblique images. In this publication these effects - originating from the kinematic chain of a dynamic camera system - are analysed and validated. A member of the Modular Airborne Camera System family - MACS-TumbleCam - consisting of a vertical viewing and a tumbling oblique camera was used for this investigation. Focus is on dynamic geometric modeling and the stability of the kinematic chain. To validate the experimental findings, the determined parameters are applied to the exterior orientation of an actual aerial image acquisition campaign using MACS-TumbleCam. The quality of the parameters is sufficient for direct georeferencing of oblique image data from the orientation information of a synchronously captured vertical image dataset. Relative accuracy for the oblique data set ranges from 1.5 pixels when using all images of the image block to 0.3 pixels when using only adjacent images.

Setup and evaluation of a sensor tilting system for dimensional micro- and nanometrology

NASA Astrophysics Data System (ADS)

Schuler, Alexander; Weckenmann, Albert; Hausotte, Tino

2014-06-01

Sensors in micro- and nanometrology show their limits if the measurement objects and surfaces feature high aspect ratios, high curvature and steep surface angles. Their measurable surface angle is limited and an excess leads to measurement deviation and not detectable surface points. We demonstrate a principle to adapt the sensor's working angle during the measurement keeping the sensor in its optimal working angle. After the simulation of the principle, a hardware prototype was realized. It is based on a rotary kinematic chain with two rotary degrees of freedom, which extends the measurable surface angle to ±90° and is combined with a nanopositioning and nanomeasuring machine. By applying a calibration procedure with a quasi-tactile 3D sensor based on electrical near-field interaction the systematic position deviation of the kinematic chain is reduced. The paper shows for the first time the completed setup and integration of the prototype, the performance results of the calibration, the measurements with the prototype and the tilting principle, and finishes with the interpretation and feedback of the practical results.

Robust adaptive relative position and attitude control for spacecraft autonomous proximity.

PubMed

Sun, Liang; Huo, Wei; Jiao, Zongxia

2016-07-01

This paper provides new results of the dynamical modeling and controller designing for autonomous close proximity phase during rendezvous and docking in the presence of kinematic couplings and model uncertainties. A globally defined relative motion mechanical model for close proximity operations is introduced firstly. Then, in spite of the kinematic couplings and thrust misalignment between relative rotation and relative translation, robust adaptive relative position and relative attitude controllers are designed successively. Finally, stability of the overall system is proved that the relative position and relative attitude are uniformly ultimately bounded, and the size of the ultimate bound can be regulated small enough by control system parameters. Performance of the controlled overall system is demonstrated via a representative numerical example. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation.

PubMed

Cortés, Camilo; de Los Reyes-Guzmán, Ana; Scorza, Davide; Bertelsen, Álvaro; Carrasco, Eduardo; Gil-Agudo, Ángel; Ruiz-Salguero, Oscar; Flórez, Julián

2016-01-01

Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury). The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement. The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton. This approximation is rough since their kinematic structures differ. Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup. Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains. EIKPE has been tested with single DOF movements of the wrist and elbow joints. This paper presents the assessment of EIKPE with elbow-shoulder compound movements (i.e., object prehension). Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage). The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compound movement execution, especially for the shoulder joint angles. This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types.

Indirect synthesis of multi-degree of freedom transient systems. [linear programming for a kinematically linear system

NASA Technical Reports Server (NTRS)

Pilkey, W. D.; Chen, Y. H.

1974-01-01

An indirect synthesis method is used in the efficient optimal design of multi-degree of freedom, multi-design element, nonlinear, transient systems. A limiting performance analysis which requires linear programming for a kinematically linear system is presented. The system is selected using system identification methods such that the designed system responds as closely as possible to the limiting performance. The efficiency is a result of the method avoiding the repetitive systems analyses accompanying other numerical optimization methods.

Computational structures for robotic computations

NASA Technical Reports Server (NTRS)

Lee, C. S. G.; Chang, P. R.

1987-01-01

The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

Primate Anatomy, Kinematics, and Principles for Humanoid Design

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.; Ambrose, Catherine G.

2004-01-01

The primate order of animals is investigated for clues in the design of Humanoid Robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re emergence of the human waist, seen in early Prosimians and Monkeys for arboreal balance, but lost in the terrestrial Pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of Gorillas and other Hominoidea.

Effects of calcaneal eversion on three-dimensional kinematics of the hip, pelvis and thorax in unilateral weight bearing.

PubMed

Tateuchi, Hiroshige; Wada, Osamu; Ichihashi, Noriaki

2011-06-01

Understanding the kinematic chain from foot to thorax will provide a better basis for assessment of malalignment of the body. The purpose of this study was to investigate the effects of induced calcaneal eversion on the kinematics of the hip, pelvis and thorax in three dimensions under unilateral weight-bearing. Twenty-eight healthy males were requested to stand on one leg under three conditions: normal (standing directly on the floor), and on wedges producing 5° and 10° calcaneal eversion. Recorded kinematic parameters included the angles of the hip joint, pelvis, and thorax in three dimensions. Eversion induced by wedges produced significant increases in hip flexion, hip medial rotation, pelvic anterior tilt, and thoracic lateral tilt and axial rotation to the standing side. In the frontal plane, pelvic lateral tilt to the standing side was decreased in 5° eversion condition compared with normal condition; conversely, it was increased in 10° eversion condition compared with 5° eversion condition. Arch height was negatively correlated with change in thoracic axial rotation to standing side from the normal to 10° eversion (r=-.528, p<.01). We concluded that induced calcaneal eversion affects the three-dimensional kinematics of the thorax through the hip joint and the pelvis. Copyright © 2011 Elsevier B.V. All rights reserved.

Determining residual reduction algorithm kinematic tracking weights for a sidestep cut via numerical optimization.

PubMed

Samaan, Michael A; Weinhandl, Joshua T; Bawab, Sebastian Y; Ringleb, Stacie I

2016-12-01

Musculoskeletal modeling allows for the determination of various parameters during dynamic maneuvers by using in vivo kinematic and ground reaction force (GRF) data as inputs. Differences between experimental and model marker data and inconsistencies in the GRFs applied to these musculoskeletal models may not produce accurate simulations. Therefore, residual forces and moments are applied to these models in order to reduce these differences. Numerical optimization techniques can be used to determine optimal tracking weights of each degree of freedom of a musculoskeletal model in order to reduce differences between the experimental and model marker data as well as residual forces and moments. In this study, the particle swarm optimization (PSO) and simplex simulated annealing (SIMPSA) algorithms were used to determine optimal tracking weights for the simulation of a sidestep cut. The PSO and SIMPSA algorithms were able to produce model kinematics that were within 1.4° of experimental kinematics with residual forces and moments of less than 10 N and 18 Nm, respectively. The PSO algorithm was able to replicate the experimental kinematic data more closely and produce more dynamically consistent kinematic data for a sidestep cut compared to the SIMPSA algorithm. Future studies should use external optimization routines to determine dynamically consistent kinematic data and report the differences between experimental and model data for these musculoskeletal simulations.

Using sorted invariant mass variables to evade combinatorial ambiguities in cascade decays

DOE PAGES

Kim, Doojin; Matchev, Konstantin T.; Park, Myeonghun

2016-02-19

The classic method for mass determination in a SUSY-like cascade decay chain relies on measurements of the kinematic endpoints in the invariant mass distributions of suitable collections of visible decay products. However, the procedure is complicated by combinatorial ambiguities: e.g., the visible final state particles may be indistinguishable (as in the case of QCD jets), or one may not know the exact order in which they are emitted along the decay chain. In order to avoid such combinatorial ambiguities, we propose to treat the nal state particles fully democratically and consider the sorted set of the invariant masses of allmore » possible partitions of the visible particles in the decay chain. In particular, for a decay to N visible particles, one considers the sorted sets of all possible n-body invariant mass combinations (2≤ n≤ N) and determines the kinematic endpoint m (n,r) max of the distribution of the r-th largest n-body invariant mass m (n,r) for each possible value of n and r. For the classic example of a squark decay in supersymmetry, we provide analytical formulas for the interpretation of these endpoints in terms of the underlying physical masses. We point out that these measurements can be used to determine the structure of the decay topology, e.g., the number and position of intermediate on-shell resonances.« less

Using sorted invariant mass variables to evade combinatorial ambiguities in cascade decays

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kim, Doojin; Matchev, Konstantin T.; Park, Myeonghun

The classic method for mass determination in a SUSY-like cascade decay chain relies on measurements of the kinematic endpoints in the invariant mass distributions of suitable collections of visible decay products. However, the procedure is complicated by combinatorial ambiguities: e.g., the visible final state particles may be indistinguishable (as in the case of QCD jets), or one may not know the exact order in which they are emitted along the decay chain. In order to avoid such combinatorial ambiguities, we propose to treat the nal state particles fully democratically and consider the sorted set of the invariant masses of allmore » possible partitions of the visible particles in the decay chain. In particular, for a decay to N visible particles, one considers the sorted sets of all possible n-body invariant mass combinations (2≤ n≤ N) and determines the kinematic endpoint m (n,r) max of the distribution of the r-th largest n-body invariant mass m (n,r) for each possible value of n and r. For the classic example of a squark decay in supersymmetry, we provide analytical formulas for the interpretation of these endpoints in terms of the underlying physical masses. We point out that these measurements can be used to determine the structure of the decay topology, e.g., the number and position of intermediate on-shell resonances.« less

A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation.

PubMed

Malosio, Matteo; Negri, Simone Pio; Pedrocchi, Nicola; Vicentini, Federico; Caimmi, Marco; Molinari Tosatti, Lorenzo

2012-01-01

The ankle represents a fairly complex bone structure, resulting in kinematics that hinders a flawless robot-assisted recovery of foot motility in impaired subjects. The paper proposes a novel device for ankle-foot neuro-rehabilitation based on a mechatronic redesign of the remarkable Agile Eye spherical robot on the basis of clinical requisites. The kinematic design allows the positioning of the ankle articular center close to the machine rotation center with valuable benefits in term of therapy functions. The prototype, named PKAnkle, Parallel Kinematic machine for Ankle rehabilitation, provides a 6-axes load cell for the measure of subject interaction forces/torques, and it integrates a commercial EMG-acquisition system. Robot control provides active and passive therapeutic exercises.

Influence of Tennis Racquet Kinematics on Ball Topspin Angular Velocity and Accuracy during the Forehand Groundstroke

PubMed Central

Kwon, Sunku; Pfister, Robin; Hager, Ronald L.; Hunter, Iain; Seeley, Matthew K.

2017-01-01

Forehand groundstroke effectiveness is important for tennis success. Ball topspin angular velocity (TAV) and accuracy are important for forehand groundstroke effectiveness, and have been extensively studied, previously; despite previous, quality studies, it was unclear whether certain racquet kinematics relate to ball TAV and shot accuracy during the forehand groundstroke. This study evaluated potential relationships between (1) ball TAV and (2) forehand accuracy, and five measures of racquet kinematics: racquet head impact angle (i.e., closed or open face), horizontal and vertical racquet head velocity before impact, racquet head trajectory (resultant velocity direction, relative to horizontal) before impact, and hitting zone length (quasi-linear displacement, immediately before and after impact). Thirteen collegiate-level tennis players hit forehand groundstrokes in a biomechanics laboratory, where racquet kinematics and ball TAV were measured, and on a tennis court, to assess accuracy. Correlational statistics were used to evaluate potential relationships between racquet kinematics, and ball TAV (mixed model) and forehand accuracy (between-subjects model; α = 0.05). We observed an average (1) racquet head impact angle, (2) racquet head trajectory before impact, relative to horizontal, (3) racquet head horizontal velocity before impact, (4) racquet head vertical velocity before impact, and (5) hitting zone length of 80.4 ± 3.6˚, 18.6 ± 4.3˚, 15.4 ± 1.4 m·s-1, 6.6 ± 2.2 m·s-1, and 79.8 ± 8.6 mm, respectively; and an average ball TAV of 969 ± 375 revolutions per minute. Only racquet head impact angle and racquet head vertical velocity, before impact, significantly correlated with ball TAV (p < 0.01). None of the observed racquet kinematics significantly correlated to the measures of forehand accuracy. These results confirmed mechanical logic and indicate that increased ball TAV is associated with a more closed racquet head impact angle (ranging from 70 to 85˚, relative to the ground) and increased racquet head vertical velocity before impact. Key points The study confirmed previous research that two key racquet kinematic variables, near impact, are significantly correlated to ball topspin angular velocity, during the forehand groundstroke: racquet head impact angle (i.e., open or closed racquet face) and racquet vertical velocity, before impact. The trajectory (direction of resultant velocity) and horizontal velocity of the racquet head before impact, and length of hitting zone were not significantly correlated to ball topspin angular velocity, or shot placement accuracy, during the tennis forehand groundstroke, for skilled male players. Hitting zone length was smaller than expected for skilled tennis players performing the forehand groundstroke. PMID:29238250

Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Unseren, M.A.

1993-04-01

The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associatedmore » with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993.« less

Kinematics and design of a class of parallel manipulators

NASA Astrophysics Data System (ADS)

Hertz, Roger Barry

1998-12-01

This dissertation is concerned with the kinematic analysis and design of a class of three degree-of-freedom, spatial parallel manipulators. The class of manipulators is characterized by two platforms, between which are three legs, each possessing a succession of revolute, spherical, and revolute joints. The class is termed the "revolute-spherical-revolute" class of parallel manipulators. Two members of this class are examined. The first mechanism is a double-octahedral variable-geometry truss, and the second is termed a double tripod. The history the mechanisms is explored---the variable-geometry truss dates back to 1984, while predecessors of the double tripod mechanism date back to 1869. This work centers on the displacement analysis of these three-degree-of-freedom mechanisms. Two types of problem are solved: the forward displacement analysis (forward kinematics) and the inverse displacement analysis (inverse kinematics). The kinematic model of the class of mechanism is general in nature. A classification scheme for the revolute-spherical-revolute class of mechanism is introduced, which uses dominant geometric features to group designs into 8 different sub-classes. The forward kinematics problem is discussed: given a set of independently controllable input variables, solve for the relative position and orientation between the two platforms. For the variable-geometry truss, the controllable input variables are assumed to be the linear (prismatic) joints. For the double tripod, the controllable input variables are the three revolute joints adjacent to the base (proximal) platform. Multiple solutions are presented to the forward kinematics problem, indicating that there are many different positions (assemblies) that the manipulator can assume with equivalent inputs. For the double tripod these solutions can be expressed as a 16th degree polynomial in one unknown, while for the variable-geometry truss there exist two 16th degree polynomials, giving rise to 256 solutions. For special cases of the double tripod, the forward kinematics problem is shown to have a closed-form solution. Numerical examples are presented for the solution to the forward kinematics. A double tripod is presented that admits 16 unique and real forward kinematics solutions. Another example for a variable geometry truss is given that possesses 64 real solutions: 8 for each 16th order polynomial. The inverse kinematics problem is also discussed: given the relative position of the hand (end-effector), which is rigidly attached to one platform, solve for the independently controlled joint variables. Iterative solutions are proposed for both the variable-geometry truss and the double tripod. For special cases of both mechanisms, closed-form solutions are given. The practical problems of designing, building, and controlling a double-tripod manipulator are addressed. The resulting manipulator is a first-of-its kind prototype of a tapered (asymmetric) double-tripod manipulator. Real-time forward and inverse kinematics algorithms on an industrial robot controller is presented. The resulting performance of the prototype is impressive, since it was to achieve a maximum tool-tip speed of 4064 mm/s, maximum acceleration of 5 g, and a cycle time of 1.2 seconds for a typical pick-and-place pattern.

Linked-List-Based Multibody Dynamics (MBDyn) Engine

NASA Technical Reports Server (NTRS)

MacLean, John; Brain, Thomas; Wuiocho, Leslie; Huynh, An; Ghosh, Tushar

2012-01-01

This new release of MBDyn is a software engine that calculates the dynamics states of kinematic, rigid, or flexible multibody systems. An MBDyn multibody system may consist of multiple groups of articulated chains, trees, or closed-loop topologies. Transient topologies are handled through conservation of energy and momentum. The solution for rigid-body systems is exact, and several configurable levels of nonlinear term fidelity are available for flexible dynamics systems. The algorithms have been optimized for efficiency and can be used for both non-real-time (NRT) and real-time (RT) simulations. Interfaces are currently compatible with NASA's Trick Simulation Environment. This new release represents a significant advance in capability and ease of use. The two most significant new additions are an application programming interface (API) that clarifies and simplifies use of MBDyn, and a link-list infrastructure that allows a single MBDyn instance to propagate an arbitrary number of interacting groups of multibody top ologies. MBDyn calculates state and state derivative vectors for integration using an external integration routine. A Trickcompatible interface is provided for initialization, data logging, integration, and input/output.

Evaluation of actuators for the SDOF and MDOF active microgravity isolation systems

NASA Technical Reports Server (NTRS)

1993-01-01

The University of Virginia examined the design of actuators for both single-degree-of-freedom (SDOF) and multiple-degree-of-freedom (MDOF) active microgravity isolation systems. For SDOF systems, two actuators were considered: a special large gap magnetic actuator and a large stroke Lorentz actuator. The magnetic actuator was viewed to be of greater difficulty than the Lorentz actuator with little compelling technical advantage and was dropped from consideration. A Lorentz actuator was designed and built for the SDOF test rig using magnetic circuit and finite element analysis. The design and some experimental results are discussed. The University also examined the design of actuators for MDOF isolation systems. This includes design of an integrated 1 cm gap 6-DOF noncontacting magnetic suspension system and of a 'coarse' follower which permits the practical extension of magnetic suspension to large strokes. The proposed 'coarse' actuator was a closed kinematic chain manipulator known as a Stewart Platform. The integration of the two isolation systems together, the isolation tasks assigned to each, and possible control architectures were also explored. The results of this research are examined.

Rationale for evaluating a closed food chain for space habitats

NASA Technical Reports Server (NTRS)

Modell, M.; Spurlock, J. M.

1980-01-01

Closed food cycles for long duration space flight and space habitation are examined. Wash water for a crew of six is economically recyclable after a week, while a total closed loop water system is effective only if the stay exceeds six months' length. The stoichiometry of net plant growth is calculated and it is shown that the return of urine, feces, and inedible plant parts to the food chain, along with the addition of photosynthesis, closes the food chain loop. Scenarios are presented to explore the technical feasibility of achieving a closed loop system. An optimal choice of plants is followed by processing, waste conversion, equipment specifications, and control requirements, and finally, cost-effectiveness.

Direct and Inverse Kinematics of a Novel Tip-Tilt-Piston Parallel Manipulator

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2004-01-01

Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Kinematics of a New High Precision Three Degree-of-Freedom Parallel Manipulator

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2005-01-01

Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most sixteen assembly configurations for the manipulator. In addition, it is shown that the sixteen solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Quantum phase transition in dimerised spin-1/2 chains

NASA Astrophysics Data System (ADS)

Das, Aparajita; Bhadra, Sreeparna; Saha, Sonali

2015-11-01

Quantum phase transition in dimerised antiferromagnetic Heisenberg spin chain has been studied. A staircase structure in the variation of concurrence within strongly coupled pairs with that of external magnetic field has been observed indicating multiple critical (or critical like) points. Emergence of entanglement due to external magnetic field or magnetic entanglement is observed for weakly coupled spin pairs too in the same dimer chain. Though closed dimerised isotropic XXX Heisenberg chains with different dimer strengths were mainly explored, analogous studies on open chains as well as closed anisotropic (XX interaction) chains with tilted external magnetic field have also been studied.

Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation

PubMed Central

Cortés, Camilo; de los Reyes-Guzmán, Ana; Scorza, Davide; Bertelsen, Álvaro; Carrasco, Eduardo; Gil-Agudo, Ángel; Ruiz-Salguero, Oscar; Flórez, Julián

2016-01-01

Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury). The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement. The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton. This approximation is rough since their kinematic structures differ. Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup. Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains. EIKPE has been tested with single DOF movements of the wrist and elbow joints. This paper presents the assessment of EIKPE with elbow-shoulder compound movements (i.e., object prehension). Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage). The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compound movement execution, especially for the shoulder joint angles. This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types. PMID:27403420

APOGEE strings: A fossil record of the gas kinematic structure

NASA Astrophysics Data System (ADS)

Hacar, A.; Alves, J.; Forbrich, J.; Meingast, S.; Kubiak, K.; Großschedl, J.

2016-05-01

We compare APOGEE radial velocities (RVs) of young stars in the Orion A cloud with CO line gas emission and find a correlation between the two at large scales in agreement with previous studies. However, at smaller scales we find evidence for the presence of a substructure in the stellar velocity field. Using a friends-of-friends approach we identify 37 stellar groups with almost identical RVs. These groups are not randomly distributed, but form elongated chains or strings of stars with five or more members with low velocity dispersion across lengths of 1-1.5 pc. The similarity between the kinematic properties of the APOGEE strings and the internal velocity field of the chains of dense cores and fibers recently identified in the dense interstellar medium is striking and suggests that for most of the Orion A cloud, young stars keep memory of the parental gas substructure where they originated. Full Table 2 is only available at the CDS via anonymous ftp to http://cdsarc.u-strasbg.fr (ftp://130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/589/A80

Visually driven chaining of elementary swim patterns into a goal-directed motor sequence: a virtual reality study of zebrafish prey capture

PubMed Central

Trivedi, Chintan A.; Bollmann, Johann H.

2013-01-01

Prey capture behavior critically depends on rapid processing of sensory input in order to track, approach, and catch the target. When using vision, the nervous system faces the problem of extracting relevant information from a continuous stream of input in order to detect and categorize visible objects as potential prey and to select appropriate motor patterns for approach. For prey capture, many vertebrates exhibit intermittent locomotion, in which discrete motor patterns are chained into a sequence, interrupted by short periods of rest. Here, using high-speed recordings of full-length prey capture sequences performed by freely swimming zebrafish larvae in the presence of a single paramecium, we provide a detailed kinematic analysis of first and subsequent swim bouts during prey capture. Using Fourier analysis, we show that individual swim bouts represent an elementary motor pattern. Changes in orientation are directed toward the target on a graded scale and are implemented by an asymmetric tail bend component superimposed on this basic motor pattern. To further investigate the role of visual feedback on the efficiency and speed of this complex behavior, we developed a closed-loop virtual reality setup in which minimally restrained larvae recapitulated interconnected swim patterns closely resembling those observed during prey capture in freely moving fish. Systematic variation of stimulus properties showed that prey capture is initiated within a narrow range of stimulus size and velocity. Furthermore, variations in the delay and location of swim triggered visual feedback showed that the reaction time of secondary and later swims is shorter for stimuli that appear within a narrow spatio-temporal window following a swim. This suggests that the larva may generate an expectation of stimulus position, which enables accelerated motor sequencing if the expectation is met by appropriate visual feedback. PMID:23675322

The structure of denisovite, a fibrous nanocrystalline polytypic disordered ‘very complex’ silicate, studied by a synergistic multi-disciplinary approach employing methods of electron crystallography and X-ray powder diffraction

PubMed Central

Schowalter, Marco; Schmidt, Martin U.; Czank, Michael; Depmeier, Wulf; Rosenauer, Andreas

2017-01-01

Denisovite is a rare mineral occurring as aggregates of fibres typically 200–500 nm diameter. It was confirmed as a new mineral in 1984, but important facts about its chemical formula, lattice parameters, symmetry and structure have remained incompletely known since then. Recently obtained results from studies using microprobe analysis, X-ray powder diffraction (XRPD), electron crystallography, modelling and Rietveld refinement will be reported. The electron crystallography methods include transmission electron microscopy (TEM), selected-area electron diffraction (SAED), high-angle annular dark-field imaging (HAADF), high-resolution transmission electron microscopy (HRTEM), precession electron diffraction (PED) and electron diffraction tomography (EDT). A structural model of denisovite was developed from HAADF images and later completed on the basis of quasi-kinematic EDT data by ab initio structure solution using direct methods and least-squares refinement. The model was confirmed by Rietveld refinement. The lattice parameters are a = 31.024 (1), b = 19.554 (1) and c = 7.1441 (5) Å, β = 95.99 (3)°, V = 4310.1 (5) Å3 and space group P12/a1. The structure consists of three topologically distinct dreier silicate chains, viz. two xonotlite-like dreier double chains, [Si6O17]10−, and a tubular loop-branched dreier triple chain, [Si12O30]12−. The silicate chains occur between three walls of edge-sharing (Ca,Na) octahedra. The chains of silicate tetrahedra and the octahedra walls extend parallel to the z axis and form a layer parallel to (100). Water molecules and K+ cations are located at the centre of the tubular silicate chain. The latter also occupy positions close to the centres of eight-membered rings in the silicate chains. The silicate chains are geometrically constrained by neighbouring octahedra walls and present an ambiguity with respect to their z position along these walls, with displacements between neighbouring layers being either Δz = c/4 or −c/4. Such behaviour is typical for polytypic sequences and leads to disorder along [100]. In fact, the diffraction pattern does not show any sharp reflections with l odd, but continuous diffuse streaks parallel to a* instead. Only reflections with l even are sharp. The diffuse scattering is caused by (100) nano­lamellae separated by stacking faults and twin boundaries. The structure can be described according to the order–disorder (OD) theory as a stacking of layers parallel to (100). PMID:28512570

Implementation of Open and Closed Kinetic Chain Quadriceps Strengthening Exercises after Anterior Cruciate Ligament Reconstruction.

ERIC Educational Resources Information Center

Ross, Michael D.; Denegar, Craig R.; Winzenried, Jay A.

2001-01-01

Reviews the effects of open kinetic chain (OKC) and closed kinetic chain (CKC) exercise on anterior cruciate ligament (ACL) strain and patellofemoral joint stress, suggesting a combination of the two for quadriceps strengthening after ACL reconstruction. Both OKC and CKC exercises may be modified and implemented for quadriceps strengthening after…

Dynamics and motion control of a chain of particles on a rough surface

NASA Astrophysics Data System (ADS)

Behn, C.; Schale, F.; Zeidis, I.; Zimmermann, K.; Bolotnik, N.

2017-05-01

In this paper the mechanics and control of the motion of a straight chain of three particles interconnected with kinematical constraints are investigated. The ground contact is described by dry (discontinuous) or viscous (continuous) friction. Here, we understand this model as a methodological basis for the design of worm-like locomotion systems, i.e., non-pedal mobile robots. This kind of robots will prove an efficient form of locomotion in application to inspection of pipes or for rescue missions. In this paper, a number of issues related to the dynamics and control of artificial limbless locomotion systems are discussed. Simplest models of a limbless locomotor are two-body or three-body systems that move along a horizontal straight line. In the first part of the paper, the controls are assumed in the form of periodic functions with zero average, shifted on a phase one concerning each other. Thus, there is a traveling wave along the chain of particles. In the second part, actuator models are discussed. It is supposed that there are unknown actuator data or the worm system parameter are not known or exactly as well. The focus is on adaptive control algorithms for the worm-like locomotion systems in order to track given reference trajectories, like kinematic gaits. Finally, a prototype together with its signal processing and control software is presented. Theoretically (analytically and numerically) calculated results of the dynamical behavior of the mobile system are compared to experimental data.

Kinematics and Mechanics analysis of trap-jaw ant Odontomachus monticola

NASA Astrophysics Data System (ADS)

Hao, Wenteng; Yao, Guang; Zhang, Xiangyu; Zhang, Deyuan

2018-03-01

Trap-jaw ants of the genus Odontomachus exhibit spectacularly rapid predatory and fugitive strikes. In order to reveal the extraordinary impact resistance of the apical teeth material, we analyzed the kinematics and mechanics of the closing mandibles. Odontomachus monticola is an Odontomachus species and extensive in China. We video-recorded jaw-strikes to measure the closing velocity and acceleration. The experimental results showed that O. monticola’s mandibles closed at a highest velocity of 35.42 m/s and a highest acceleration of 750,000 m/s2 within an average duration of 0.16 ms. In addition, in order to measure the strike force, we developed an extraordinary measuring method with poly (vinylidene fluoride) (PVDF) piezoelectric film. First, the dynamic calibration of the PVDF piezoelectric film was conducted, then the calibrated piezoelectric film was struck by O. monticola. Finally, the mandible strike force was calculated according to the calibration result and the output signal. The measurements results demonstrated that the strike force ranges from 102.2 N to 235.2 N, which is impressive contrast with O. monticola’s body weight.

Comparison of robot surgery modular and total knee arthroplasty kinematics.

PubMed

Yildirim, Gokce; Fernandez-Madrid, Ivan; Schwarzkopf, Ran; Walker, Peter S; Karia, Raj

2014-04-01

The kinematics of seven knee specimens were measured from 0 to 120 degrees flexion using an up-and-down crouching machine. Motion was characterized by the positions of the centers of the lateral and medial femoral condyles in the anterior-posterior direction relative to a fixed tibia. A modular unicompartmental knee, trochlea flange, and patella resurfacing (multicompartmental knee [MCK] system) were implanted using a surgeon-interactive robot system that provided accurate surface matching. The MCK was tested, followed by standard cruciate retaining (CR) and posterior stabilized (PS) knees. The motion of the MCK was close to anatomic, especially on the medial side, in contrast to the CR and PS knees that showed abnormal motion features. Such a modular knee system, accurately inserted, has the potential for close to normal function in clinical application. Thieme Medical Publishers 333 Seventh Avenue, New York, NY 10001, USA.

Kinematic analysis of a posterior-stabilized knee prosthesis.

PubMed

Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia

2015-01-20

The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0-135° flexion. Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, "rollback" compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis.

Kinematic, muscular, and metabolic responses during exoskeletal-, elliptical-, or therapist-assisted stepping in people with incomplete spinal cord injury.

PubMed

Hornby, T George; Kinnaird, Catherine R; Holleran, Carey L; Rafferty, Miriam R; Rodriguez, Kelly S; Cain, Julie B

2012-10-01

Robotic-assisted locomotor training has demonstrated some efficacy in individuals with neurological injury and is slowly gaining clinical acceptance. Both exoskeletal devices, which control individual joint movements, and elliptical devices, which control endpoint trajectories, have been utilized with specific patient populations and are available commercially. No studies have directly compared training efficacy or patient performance during stepping between devices. The purpose of this study was to evaluate kinematic, electromyographic (EMG), and metabolic responses during elliptical- and exoskeletal-assisted stepping in individuals with incomplete spinal cord injury (SCI) compared with therapist-assisted stepping. Design A prospective, cross-sectional, repeated-measures design was used. Participants with incomplete SCI (n=11) performed 3 separate bouts of exoskeletal-, elliptical-, or therapist-assisted stepping. Unilateral hip and knee sagittal-plane kinematics, lower-limb EMG recordings, and oxygen consumption were compared across stepping conditions and with control participants (n=10) during treadmill stepping. Exoskeletal stepping kinematics closely approximated normal gait patterns, whereas significantly greater hip and knee flexion postures were observed during elliptical-assisted stepping. Measures of kinematic variability indicated consistent patterns in control participants and during exoskeletal-assisted stepping, whereas therapist- and elliptical-assisted stepping kinematics were more variable. Despite specific differences, EMG patterns generally were similar across stepping conditions in the participants with SCI. In contrast, oxygen consumption was consistently greater during therapist-assisted stepping. Limitations Limitations included a small sample size, lack of ability to evaluate kinetics during stepping, unilateral EMG recordings, and sagittal-plane kinematics. Despite specific differences in kinematics and EMG activity, metabolic activity was similar during stepping in each robotic device. Understanding potential differences and similarities in stepping performance with robotic assistance may be important in delivery of repeated locomotor training using robotic or therapist assistance and for consumers of robotic devices.

Study of the kinematic variables of unilateral and habitual mastication of healthy individuals.

PubMed

Pasinato, Fernanda; Oliveira, Andréia Gussi de; Santos-Couto-Paz, Clarissa C; Zeredo, Jorge Luis Lopes; Bolzan, Geovana de Paula; Macedo, Sergio Bruzadelli; Corrêa, Eliane C R

2017-03-30

To describe and compare the temporal-spatial kinematic variables of mandibular movement during deliberate unilateral and habitual mastication in healthy young-adult individuals. The study sample was composed of eight male healthy volunteers aged 19 to 24 years. The kinematic data were obtained using a motion analysis system - Qualisys Track Manager (QTM) ProReflex MCU. Recordings were performed during deliberate unilateral mastication (UM) and habitual mastication (HM) of firm-consistency gummy candy. The following variables were analyzed: (1) masticatory sequence: duration, number of masticatory cycles, and chewing rate; (2) masticatory cycle: duration, vertical and medial-lateral mandibular range of motion in relation to the skull, and maximum velocity during the opening and closing phases. Data of the variables were compared during UM and HM by the paired t test, and the effect sizes ('d' Cohen) were calculated. Regarding the variables of the masticatory sequence, smaller chewing rate was observed for UM compared with that for HM (1.19±0.21Hz and 1.29±0.16Hz, respectively, p=0.004, d=0.53). Smaller values of maximum velocity during the opening (MU=67.4 mm/s and MH=80.02, p=0.053, d=0.80) and closing (MU=71.77±9.35mm/s and MH=3.51±7mm/s, p=0.014, d=0.79) phases of the masticatory cycle were observed in deliberate unilateral mastication compared with those in habitual mastication. Kinematic variables associated with the sequence and cycle of mastication are influenced by the chewing pattern adopted - deliberate unilateral or habitual.

Multiple linear regression approach for the analysis of the relationships between joints mobility and regional pressure-based parameters in the normal-arched foot.

PubMed

Caravaggi, Paolo; Leardini, Alberto; Giacomozzi, Claudia

2016-10-03

Plantar load can be considered as a measure of the foot ability to transmit forces at the foot/ground, or foot/footwear interface during ambulatory activities via the lower limb kinematic chain. While morphological and functional measures have been shown to be correlated with plantar load, no exhaustive data are currently available on the possible relationships between range of motion of foot joints and plantar load regional parameters. Joints' kinematics from a validated multi-segmental foot model were recorded together with plantar pressure parameters in 21 normal-arched healthy subjects during three barefoot walking trials. Plantar pressure maps were divided into six anatomically-based regions of interest associated to corresponding foot segments. A stepwise multiple regression analysis was performed to determine the relationships between pressure-based parameters, joints range of motion and normalized walking speed (speed/subject height). Sagittal- and frontal-plane joint motion were those most correlated to plantar load. Foot joints' range of motion and normalized walking speed explained between 6% and 43% of the model variance (adjusted R 2 ) for pressure-based parameters. In general, those joints' presenting lower mobility during stance were associated to lower vertical force at forefoot and to larger mean and peak pressure at hindfoot and forefoot. Normalized walking speed was always positively correlated to mean and peak pressure at hindfoot and forefoot. While a large variance in plantar pressure data is still not accounted for by the present models, this study provides statistical corroboration of the close relationship between joint mobility and plantar pressure during stance in the normal healthy foot. Copyright © 2016 Elsevier Ltd. All rights reserved.

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Koningstein, Ross

1990-01-01

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Tracing kinematic (mis)alignments in CALIFA merging galaxies. Stellar and ionized gas kinematic orientations at every merger stage

NASA Astrophysics Data System (ADS)

Barrera-Ballesteros, J. K.; García-Lorenzo, B.; Falcón-Barroso, J.; van de Ven, G.; Lyubenova, M.; Wild, V.; Méndez-Abreu, J.; Sánchez, S. F.; Marquez, I.; Masegosa, J.; Monreal-Ibero, A.; Ziegler, B.; del Olmo, A.; Verdes-Montenegro, L.; García-Benito, R.; Husemann, B.; Mast, D.; Kehrig, C.; Iglesias-Paramo, J.; Marino, R. A.; Aguerri, J. A. L.; Walcher, C. J.; Vílchez, J. M.; Bomans, D. J.; Cortijo-Ferrero, C.; González Delgado, R. M.; Bland-Hawthorn, J.; McIntosh, D. H.; Bekeraitė, S.

2015-10-01

We present spatially resolved stellar and/or ionized gas kinematic properties for a sample of 103 interacting galaxies, tracing all merger stages: close companions, pairs with morphological signatures of interaction, and coalesced merger remnants. In order to distinguish kinematic properties caused by a merger event from those driven by internal processes, we compare our galaxies with a control sample of 80 non-interacting galaxies. We measure for both the stellar and the ionized gas components the major (projected) kinematic position angles (PAkin, approaching and receding) directly from the velocity distributions with no assumptions on the internal motions. This method also allow us to derive the deviations of the kinematic PAs from a straight line (δPAkin). We find that around half of the interacting objects show morpho-kinematic PA misalignments that cannot be found in the control sample. In particular, we observe those misalignments in galaxies with morphological signatures of interaction. On the other hand, thelevel of alignment between the approaching and receding sides for both samples is similar, with most of the galaxies displaying small misalignments. Radial deviations of the kinematic PA orientation from a straight line in the stellar component measured by δPAkin are large for both samples. However, for a large fraction of interacting galaxies the ionized gas δPAkin is larger than the typical values derived from isolated galaxies (48%), indicating that this parameter is a good indicator to trace the impact of interaction and mergers in the internal motions of galaxies. By comparing the stellar and ionized gas kinematic PA, we find that 42% (28/66) of the interacting galaxies have misalignments larger than 16°, compared to 10% from the control sample. Our results show the impact of interactions in the motion of stellar and ionized gas as well as the wide the variety of their spatially resolved kinematic distributions. This study also provides a local Universe benchmark for kinematic studies in merging galaxies at high redshift. Appendices are available in electronic form at http://www.aanda.org

Quantifying side-chain conformational variations in protein structure

PubMed Central

Miao, Zhichao; Cao, Yang

2016-01-01

Protein side-chain conformation is closely related to their biological functions. The side-chain prediction is a key step in protein design, protein docking and structure optimization. However, side-chain polymorphism comprehensively exists in protein as various types and has been long overlooked by side-chain prediction. But such conformational variations have not been quantitatively studied and the correlations between these variations and residue features are vague. Here, we performed statistical analyses on large scale data sets and found that the side-chain conformational flexibility is closely related to the exposure to solvent, degree of freedom and hydrophilicity. These analyses allowed us to quantify different types of side-chain variabilities in PDB. The results underscore that protein side-chain conformation prediction is not a single-answer problem, leading us to reconsider the assessment approaches of side-chain prediction programs. PMID:27845406

Quantifying side-chain conformational variations in protein structure

NASA Astrophysics Data System (ADS)

Miao, Zhichao; Cao, Yang

2016-11-01

Protein side-chain conformation is closely related to their biological functions. The side-chain prediction is a key step in protein design, protein docking and structure optimization. However, side-chain polymorphism comprehensively exists in protein as various types and has been long overlooked by side-chain prediction. But such conformational variations have not been quantitatively studied and the correlations between these variations and residue features are vague. Here, we performed statistical analyses on large scale data sets and found that the side-chain conformational flexibility is closely related to the exposure to solvent, degree of freedom and hydrophilicity. These analyses allowed us to quantify different types of side-chain variabilities in PDB. The results underscore that protein side-chain conformation prediction is not a single-answer problem, leading us to reconsider the assessment approaches of side-chain prediction programs.

Quantifying side-chain conformational variations in protein structure.

PubMed

Miao, Zhichao; Cao, Yang

2016-11-15

Protein side-chain conformation is closely related to their biological functions. The side-chain prediction is a key step in protein design, protein docking and structure optimization. However, side-chain polymorphism comprehensively exists in protein as various types and has been long overlooked by side-chain prediction. But such conformational variations have not been quantitatively studied and the correlations between these variations and residue features are vague. Here, we performed statistical analyses on large scale data sets and found that the side-chain conformational flexibility is closely related to the exposure to solvent, degree of freedom and hydrophilicity. These analyses allowed us to quantify different types of side-chain variabilities in PDB. The results underscore that protein side-chain conformation prediction is not a single-answer problem, leading us to reconsider the assessment approaches of side-chain prediction programs.

Scaling and kinematics optimisation of the scapula and thorax in upper limb musculoskeletal models

PubMed Central

Prinold, Joe A.I.; Bull, Anthony M.J.

2014-01-01

Accurate representation of individual scapula kinematics and subject geometries is vital in musculoskeletal models applied to upper limb pathology and performance. In applying individual kinematics to a model׳s cadaveric geometry, model constraints are commonly prescriptive. These rely on thorax scaling to effectively define the scapula׳s path but do not consider the area underneath the scapula in scaling, and assume a fixed conoid ligament length. These constraints may not allow continuous solutions or close agreement with directly measured kinematics. A novel method is presented to scale the thorax based on palpated scapula landmarks. The scapula and clavicle kinematics are optimised with the constraint that the scapula medial border does not penetrate the thorax. Conoid ligament length is not used as a constraint. This method is simulated in the UK National Shoulder Model and compared to four other methods, including the standard technique, during three pull-up techniques (n=11). These are high-performance activities covering a large range of motion. Model solutions without substantial jumps in the joint kinematics data were improved from 23% of trials with the standard method, to 100% of trials with the new method. Agreement with measured kinematics was significantly improved (more than 10° closer at p<0.001) when compared to standard methods. The removal of the conoid ligament constraint and the novel thorax scaling correction factor were shown to be key. Separation of the medial border of the scapula from the thorax was large, although this may be physiologically correct due to the high loads and high arm elevation angles. PMID:25011621

Software for Simulating a Complex Robot

NASA Technical Reports Server (NTRS)

Goza, S. Michael

2003-01-01

RoboSim (Robot Simulation) is a computer program that simulates the poses and motions of the Robonaut a developmental anthropomorphic robot that has a complex system of joints with 43 degrees of freedom and multiple modes of operation and control. RoboSim performs a full kinematic simulation of all degrees of freedom. It also includes interface components that duplicate the functionality of the real Robonaut interface with control software and human operators. Basically, users see no difference between the real Robonaut and the simulation. Consequently, new control algorithms can be tested by computational simulation, without risk to the Robonaut hardware, and without using excessive Robonaut-hardware experimental time, which is always at a premium. Previously developed software incorporated into RoboSim includes Enigma (for graphical displays), OSCAR (for kinematical computations), and NDDS (for communication between the Robonaut and external software). In addition, RoboSim incorporates unique inverse-kinematical algorithms for chains of joints that have fewer than six degrees of freedom (e.g., finger joints). In comparison with the algorithms of OSCAR, these algorithms are more readily adaptable and provide better results when using equivalent sets of data.

First Accelerator Test of the Kinematic Lightweight Energy Meter (KLEM) Prototype

NASA Technical Reports Server (NTRS)

Bashindzhagyan, G.; Adams, J. H.; Bashindzhagyan, P.; Chilingarian, A.; Donnelly, J.; Drury, L.; Egorov, N.; Golubkov, S.; Grebenyuk, V.; Kalinin, A.;

Effect of chain stiffness on the competition between crystallization and glass-formation in model unentangled polymers

NASA Astrophysics Data System (ADS)

Nguyen, Hong T.; Smith, Tyler B.; Hoy, Robert S.; Karayiannis, Nikos Ch.

2015-10-01

We map out the solid-state morphologies formed by model soft-pearl-necklace polymers as a function of chain stiffness, spanning the range from fully flexible to rodlike chains. The ratio of Kuhn length to bead diameter (lK/r0) increases monotonically with increasing bending stiffness kb and yields a one-parameter model that relates chain shape to bulk morphology. In the flexible limit, monomers occupy the sites of close-packed crystallites while chains retain random-walk-like order. In the rodlike limit, nematic chain ordering typical of lamellar precursors coexists with close-packing. At intermediate values of bending stiffness, the competition between random-walk-like and nematic chain ordering produces glass-formation; the range of kb over which this occurs increases with the thermal cooling rate | T ˙ | implemented in our molecular dynamics simulations. Finally, values of kb between the glass-forming and rodlike ranges produce complex ordered phases such as close-packed spirals. Our results should provide a useful initial step in a coarse-grained modeling approach to systematically determining the effect of chain stiffness on the crystallization-vs-glass-formation competition in both synthetic and colloidal polymers.

Charge neutralization in the active site of the catalytic trimer of aspartate transcarbamoylase promotes diverse structural changes.

PubMed

Endrizzi, James A; Beernink, Peter T

2017-11-01

A classical model for allosteric regulation of enzyme activity posits an equilibrium between inactive and active conformations. An alternative view is that allosteric activation is achieved by increasing the potential for conformational changes that are essential for catalysis. In the present study, substitution of a basic residue in the active site of the catalytic (C) trimer of aspartate transcarbamoylase with a non-polar residue results in large interdomain hinge changes in the three chains of the trimer. One conformation is more open than the chains in both the wild-type C trimer and the catalytic chains in the holoenzyme, the second is closed similar to the bisubstrate-analog bound conformation and the third hinge angle is intermediate to the other two. The active-site 240s loop conformation is very different between the most open and closed chains, and is disordered in the third chain, as in the holoenzyme. We hypothesize that binding of anionic substrates may promote similar structural changes. Further, the ability of the three catalytic chains in the trimer to access the open and closed active-site conformations simultaneously suggests a cyclic catalytic mechanism, in which at least one of the chains is in an open conformation suitable for substrate binding whereas another chain is closed for catalytic turnover. Based on the many conformations observed for the chains in the isolated catalytic trimer to date, we propose that allosteric activation of the holoenzyme occurs by release of quaternary constraint into an ensemble of active-site conformations. © 2017 The Protein Society.

Search for new phenomena in final states with two opposite-charge, same-flavor leptons, jets, and missing transverse momentum in pp collisions at $$ \\sqrt{s}=13 $$ TeV

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sirunyan, A. M.; Tumasyan, A.; Adam, W.

Search results are presented for physics beyond the standard model in final states with two opposite-charge, same-flavor leptons, jets, and missing transverse momentum. The data sample corresponds to an integrated luminosity of 35.9 fb –1 of proton-proton collisions at √s = 13 TeV collected with the CMS detector at the LHC in 2016. The analysis uses the invariant mass of the lepton pair, searching for a kinematic edge or a resonant-like excess compatible with the Z boson mass. The search for a kinematic edge targets production of particles sensitive to the strong force, while the resonance search targets both stronglymore » and electroweakly produced new physics. The observed yields are consistent with the expectations from the standard model, and the results are interpreted in the context of simplified models of supersymmetry. In a gauge mediated supersymmetry breaking (GMSB) model of gluino pair production with decay chains including Z bosons, gluino masses up to 1500–1770 GeV are excluded at the 95% confidence level depending on the lightest neutralino mass. In a model of electroweak chargino-neutralino production, chargino masses as high as 610 GeV are excluded when the lightest neutralino is massless. In GMSB models of electroweak neutralino-neutralino production, neutralino masses up to 500-650 GeV are excluded depending on the decay mode assumed. Lastly, in a model with bottom squark pair production and decay chains resulting in a kinematic edge in the dilepton invariant mass distribution, bottom squark masses up to 980–1200 GeV are excluded depending on the mass of the next-to-lightest neutralino.« less

Search for new phenomena in final states with two opposite-charge, same-flavor leptons, jets, and missing transverse momentum in pp collisions at $$ \\sqrt{s}=13 $$ TeV

DOE PAGES

Sirunyan, A. M.; Tumasyan, A.; Adam, W.; ...

2018-03-13

Search results are presented for physics beyond the standard model in final states with two opposite-charge, same-flavor leptons, jets, and missing transverse momentum. The data sample corresponds to an integrated luminosity of 35.9 fb –1 of proton-proton collisions at √s = 13 TeV collected with the CMS detector at the LHC in 2016. The analysis uses the invariant mass of the lepton pair, searching for a kinematic edge or a resonant-like excess compatible with the Z boson mass. The search for a kinematic edge targets production of particles sensitive to the strong force, while the resonance search targets both stronglymore » and electroweakly produced new physics. The observed yields are consistent with the expectations from the standard model, and the results are interpreted in the context of simplified models of supersymmetry. In a gauge mediated supersymmetry breaking (GMSB) model of gluino pair production with decay chains including Z bosons, gluino masses up to 1500–1770 GeV are excluded at the 95% confidence level depending on the lightest neutralino mass. In a model of electroweak chargino-neutralino production, chargino masses as high as 610 GeV are excluded when the lightest neutralino is massless. In GMSB models of electroweak neutralino-neutralino production, neutralino masses up to 500-650 GeV are excluded depending on the decay mode assumed. Lastly, in a model with bottom squark pair production and decay chains resulting in a kinematic edge in the dilepton invariant mass distribution, bottom squark masses up to 980–1200 GeV are excluded depending on the mass of the next-to-lightest neutralino.« less

Search for new phenomena in final states with two opposite-charge, same-flavor leptons, jets, and missing transverse momentum in pp collisions at √{s}=13 TeV

NASA Astrophysics Data System (ADS)

Sirunyan, A. M.; Tumasyan, A.; Adam, W.; Ambrogi, F.; Asilar, E.; Bergauer, T.; Brandstetter, J.; Brondolin, E.; Dragicevic, M.; Erö, J.; Flechl, M.; Friedl, M.; Frühwirth, R.; Ghete, V. M.; Grossmann, J.; Hrubec, J.; Jeitler, M.; König, A.; Krammer, N.; Krätschmer, I.; Liko, D.; Madlener, T.; Mikulec, I.; Pree, E.; Rabady, D.; Rad, N.; Rohringer, H.; Schieck, J.; Schöfbeck, R.; Spanring, M.; Spitzbart, D.; Waltenberger, W.; Wittmann, J.; Wulz, C.-E.; Zarucki, M.; Chekhovsky, V.; Mossolov, V.; Suarez Gonzalez, J.; De Wolf, E. A.; Di Croce, D.; Janssen, X.; Lauwers, J.; Van De Klundert, M.; Van Haevermaet, H.; Van Mechelen, P.; Van Remortel, N.; Abu Zeid, S.; Blekman, F.; D'Hondt, J.; De Bruyn, I.; De Clercq, J.; Deroover, K.; Flouris, G.; Lontkovskyi, D.; Lowette, S.; Moortgat, S.; Moreels, L.; Python, Q.; Skovpen, K.; Tavernier, S.; Van Doninck, W.; Van Mulders, P.; Van Parijs, I.; Brun, H.; Clerbaux, B.; De Lentdecker, G.; Delannoy, H.; Fasanella, G.; Favart, L.; Goldouzian, R.; Grebenyuk, A.; Karapostoli, G.; Lenzi, T.; Luetic, J.; Maerschalk, T.; Marinov, A.; Randle-conde, A.; Seva, T.; Vander Velde, C.; Vanlaer, P.; Vannerom, D.; Yonamine, R.; Zenoni, F.; Zhang, F.; Cimmino, A.; Cornelis, T.; Dobur, D.; Fagot, A.; Gul, M.; Khvastunov, I.; Poyraz, D.; Roskas, C.; Salva, S.; Tytgat, M.; Verbeke, W.; Zaganidis, N.; Bakhshiansohi, H.; Bondu, O.; Brochet, S.; Bruno, G.; Caputo, C.; Caudron, A.; De Visscher, S.; Delaere, C.; Delcourt, M.; Francois, B.; Giammanco, A.; Jafari, A.; Komm, M.; Krintiras, G.; Lemaitre, V.; Magitteri, A.; Mertens, A.; Musich, M.; Piotrzkowski, K.; Quertenmont, L.; Vidal Marono, M.; Wertz, S.; Beliy, N.; Aldá Júnior, W. L.; Alves, F. L.; Alves, G. A.; Brito, L.; Correa Martins Junior, M.; Hensel, C.; Moraes, A.; Pol, M. E.; Rebello Teles, P.; Belchior Batista Das Chagas, E.; Carvalho, W.; Chinellato, J.; Custódio, A.; Da Costa, E. M.; Da Silveira, G. G.; De Jesus Damiao, D.; Fonseca De Souza, S.; Huertas Guativa, L. M.; Malbouisson, H.; Melo De Almeida, M.; Mora Herrera, C.; Mundim, L.; Nogima, H.; Santoro, A.; Sznajder, A.; Tonelli Manganote, E. J.; Torres Da Silva De Araujo, F.; Vilela Pereira, A.; Ahuja, S.; Bernardes, C. A.; Fernandez Perez Tomei, T. R.; Gregores, E. M.; Mercadante, P. G.; Novaes, S. F.; Padula, Sandra S.; Romero Abad, D.; Ruiz Vargas, J. C.; Aleksandrov, A.; Hadjiiska, R.; Iaydjiev, P.; Misheva, M.; Rodozov, M.; Shopova, M.; Stoykova, S.; Sultanov, G.; Dimitrov, A.; Glushkov, I.; Litov, L.; Pavlov, B.; Petkov, P.; Fang, W.; Gao, X.; Ahmad, M.; Bian, J. G.; Chen, G. M.; Chen, H. S.; Chen, M.; Chen, Y.; Jiang, C. H.; Leggat, D.; Liao, H.; Liu, Z.; Romeo, F.; Shaheen, S. M.; Spiezia, A.; Tao, J.; Wang, C.; Wang, Z.; Yazgan, E.; Zhang, H.; Zhao, J.; Ban, Y.; Chen, G.; Li, Q.; Liu, S.; Mao, Y.; Qian, S. J.; Wang, D.; Xu, Z.; Avila, C.; Cabrera, A.; Chaparro Sierra, L. F.; Florez, C.; González Hernández, C. F.; Ruiz Alvarez, J. D.; Courbon, B.; Godinovic, N.; Lelas, D.; Puljak, I.; Ribeiro Cipriano, P. M.; Sculac, T.; Antunovic, Z.; Kovac, M.; Brigljevic, V.; Ferencek, D.; Kadija, K.; Mesic, B.; Starodumov, A.; Susa, T.; Ather, M. W.; Attikis, A.; Mavromanolakis, G.; Mousa, J.; Nicolaou, C.; Ptochos, F.; Razis, P. A.; Rykaczewski, H.; Finger, M.; Finger, M.; Carrera Jarrin, E.; Ellithi Kamel, A.; Khalil, S.; Mohamed, A.; Dewanjee, R. K.; Kadastik, M.; Perrini, L.; Raidal, M.; Tiko, A.; Veelken, C.; Eerola, P.; Pekkanen, J.; Voutilainen, M.; Härkönen, J.; Järvinen, T.; Karimäki, V.; Kinnunen, R.; Lampén, T.; Lassila-Perini, K.; Lehti, S.; Lindén, T.; Luukka, P.; Tuominen, E.; Tuominiemi, J.; Tuovinen, E.; Talvitie, J.; Tuuva, T.; Besancon, M.; Couderc, F.; Dejardin, M.; Denegri, D.; Faure, J. L.; Ferri, F.; Ganjour, S.; Ghosh, S.; Givernaud, A.; Gras, P.; Hamel de Monchenault, G.; Jarry, P.; Kucher, I.; Locci, E.; Machet, M.; Malcles, J.; Negro, G.; Rander, J.; Rosowsky, A.; Sahin, M. Ö.; Titov, M.; Abdulsalam, A.; Antropov, I.; Baffioni, S.; Beaudette, F.; Busson, P.; Cadamuro, L.; Charlot, C.; Granier de Cassagnac, R.; Jo, M.; Lisniak, S.; Lobanov, A.; Martin Blanco, J.; Nguyen, M.; Ochando, C.; Ortona, G.; Paganini, P.; Pigard, P.; Regnard, S.; Salerno, R.; Sauvan, J. B.; Sirois, Y.; Stahl Leiton, A. G.; Strebler, T.; Yilmaz, Y.; Zabi, A.; Zghiche, A.; Agram, J.-L.; Andrea, J.; Bloch, D.; Brom, J.-M.; Buttignol, M.; Chabert, E. C.; Chanon, N.; Collard, C.; Conte, E.; Coubez, X.; Fontaine, J.-C.; Gelé, D.; Goerlach, U.; Jansová, M.; Le Bihan, A.-C.; Tonon, N.; Van Hove, P.; Gadrat, S.; Beauceron, S.; Bernet, C.; Boudoul, G.; Chierici, R.; Contardo, D.; Depasse, P.; El Mamouni, H.; Fay, J.; Finco, L.; Gascon, S.; Gouzevitch, M.; Grenier, G.; Ille, B.; Lagarde, F.; Laktineh, I. B.; Lethuillier, M.; Mirabito, L.; Pequegnot, A. L.; Perries, S.; Popov, A.; Sordini, V.; Vander Donckt, M.; Viret, S.; Toriashvili, T.; Rurua, L.; Autermann, C.; Beranek, S.; Feld, L.; Kiesel, M. K.; Klein, K.; Lipinski, M.; Preuten, M.; Schomakers, C.; Schulz, J.; Verlage, T.; Albert, A.; Dietz-Laursonn, E.; Duchardt, D.; Endres, M.; Erdmann, M.; Erdweg, S.; Esch, T.; Fischer, R.; Güth, A.; Hamer, M.; Hebbeker, T.; Heidemann, C.; Hoepfner, K.; Knutzen, S.; Merschmeyer, M.; Meyer, A.; Millet, P.; Mukherjee, S.; Olschewski, M.; Padeken, K.; Pook, T.; Radziej, M.; Reithler, H.; Rieger, M.; Scheuch, F.; Teyssier, D.; Thüer, S.; Flügge, G.; Kargoll, B.; Kress, T.; Künsken, A.; Lingemann, J.; Müller, T.; Nehrkorn, A.; Nowack, A.; Pistone, C.; Pooth, O.; Stahl, A.; Aldaya Martin, M.; Arndt, T.; Asawatangtrakuldee, C.; Beernaert, K.; Behnke, O.; Behrens, U.; Bermúdez Martínez, A.; Bin Anuar, A. A.; Borras, K.; Botta, V.; Campbell, A.; Connor, P.; Contreras-Campana, C.; Costanza, F.; Diez Pardos, C.; Eckerlin, G.; Eckstein, D.; Eichhorn, T.; Eren, E.; Gallo, E.; Garay Garcia, J.; Geiser, A.; Gizhko, A.; Grados Luyando, J. M.; Grohsjean, A.; Gunnellini, P.; Guthoff, M.; Harb, A.; Hauk, J.; Hempel, M.; Jung, H.; Kalogeropoulos, A.; Kasemann, M.; Keaveney, J.; Kleinwort, C.; Korol, I.; Krücker, D.; Lange, W.; Lelek, A.; Lenz, T.; Leonard, J.; Lipka, K.; Lohmann, W.; Mankel, R.; Melzer-Pellmann, I.-A.; Meyer, A. B.; Mittag, G.; Mnich, J.; Mussgiller, A.; Ntomari, E.; Pitzl, D.; Raspereza, A.; Roland, B.; Savitskyi, M.; Saxena, P.; Shevchenko, R.; Spannagel, S.; Stefaniuk, N.; Van Onsem, G. P.; Walsh, R.; Wen, Y.; Wichmann, K.; Wissing, C.; Zenaiev, O.; Bein, S.; Blobel, V.; Centis Vignali, M.; Dreyer, T.; Garutti, E.; Gonzalez, D.; Haller, J.; Hinzmann, A.; Hoffmann, M.; Karavdina, A.; Klanner, R.; Kogler, R.; Kovalchuk, N.; Kurz, S.; Lapsien, T.; Marchesini, I.; Marconi, D.; Meyer, M.; Niedziela, M.; Nowatschin, D.; Pantaleo, F.; Peiffer, T.; Perieanu, A.; Scharf, C.; Schleper, P.; Schmidt, A.; Schumann, S.; Schwandt, J.; Sonneveld, J.; Stadie, H.; Steinbrück, G.; Stober, F. M.; Stöver, M.; Tholen, H.; Troendle, D.; Usai, E.; Vanelderen, L.; Vanhoefer, A.; Vormwald, B.; Akbiyik, M.; Barth, C.; Baur, S.; Butz, E.; Caspart, R.; Chwalek, T.; Colombo, F.; De Boer, W.; Dierlamm, A.; Freund, B.; Friese, R.; Giffels, M.; Gilbert, A.; Haitz, D.; Hartmann, F.; Heindl, S. M.; Husemann, U.; Kassel, F.; Kudella, S.; Mildner, H.; Mozer, M. U.; Müller, Th.; Plagge, M.; Quast, G.; Rabbertz, K.; Schröder, M.; Shvetsov, I.; Sieber, G.; Simonis, H. J.; Ulrich, R.; Wayand, S.; Weber, M.; Weiler, T.; Williamson, S.; Wöhrmann, C.; Wolf, R.; Anagnostou, G.; Daskalakis, G.; Geralis, T.; Giakoumopoulou, V. A.; Kyriakis, A.; Loukas, D.; Topsis-Giotis, I.; Karathanasis, G.; Kesisoglou, S.; Panagiotou, A.; Saoulidou, N.; Kousouris, K.; Evangelou, I.; Foudas, C.; Kokkas, P.; Mallios, S.; Manthos, N.; Papadopoulos, I.; Paradas, E.; Strologas, J.; Triantis, F. A.; Csanad, M.; Filipovic, N.; Pasztor, G.; Veres, G. I.; Bencze, G.; Hajdu, C.; Horvath, D.; Hunyadi, Á.; Sikler, F.; Veszpremi, V.; Zsigmond, A. J.; Beni, N.; Czellar, S.; Karancsi, J.; Makovec, A.; Molnar, J.; Szillasi, Z.; Bartók, M.; Raics, P.; Trocsanyi, Z. L.; Ujvari, B.; Choudhury, S.; Komaragiri, J. R.; Bahinipati, S.; Bhowmik, S.; Mal, P.; Mandal, K.; Nayak, A.; Sahoo, D. K.; Sahoo, N.; Swain, S. K.; Bansal, S.; Beri, S. B.; Bhatnagar, V.; Chawla, R.; Dhingra, N.; Kalsi, A. K.; Kaur, A.; Kaur, M.; Kumar, R.; Kumari, P.; Mehta, A.; Singh, J. B.; Walia, G.; Kumar, Ashok; Shah, Aashaq; Bhardwaj, A.; Chauhan, S.; Choudhary, B. C.; Garg, R. B.; Keshri, S.; Kumar, A.; Malhotra, S.; Naimuddin, M.; Ranjan, K.; Sharma, R.; Bhardwaj, R.; Bhattacharya, R.; Bhattacharya, S.; Bhawandeep, U.; Dey, S.; Dutt, S.; Dutta, S.; Ghosh, S.; Majumdar, N.; Modak, A.; Mondal, K.; Mukhopadhyay, S.; Nandan, S.; Purohit, A.; Roy, A.; Roy, D.; Roy Chowdhury, S.; Sarkar, S.; Sharan, M.; Thakur, S.; Behera, P. K.; Chudasama, R.; Dutta, D.; Jha, V.; Kumar, V.; Mohanty, A. K.; Netrakanti, P. K.; Pant, L. M.; Shukla, P.; Topkar, A.; Aziz, T.; Dugad, S.; Mahakud, B.; Mitra, S.; Mohanty, G. B.; Sur, N.; Sutar, B.; Banerjee, S.; Bhattacharya, S.; Chatterjee, S.; Das, P.; Guchait, M.; Jain, Sa.; Kumar, S.; Maity, M.; Majumder, G.; Mazumdar, K.; Sarkar, T.; Wickramage, N.; Chauhan, S.; Dube, S.; Hegde, V.; Kapoor, A.; Kothekar, K.; Pandey, S.; Rane, A.; Sharma, S.; Chenarani, S.; Eskandari Tadavani, E.; Etesami, S. M.; Khakzad, M.; Mohammadi Najafabadi, M.; Naseri, M.; Paktinat Mehdiabadi, S.; Rezaei Hosseinabadi, F.; Safarzadeh, B.; Zeinali, M.; Felcini, M.; Grunewald, M.; Abbrescia, M.; Calabria, C.; Colaleo, A.; Creanza, D.; Cristella, L.; De Filippis, N.; De Palma, M.; Errico, F.; Fiore, L.; Iaselli, G.; Lezki, S.; Maggi, G.; Maggi, M.; Miniello, G.; My, S.; Nuzzo, S.; Pompili, A.; Pugliese, G.; Radogna, R.; Ranieri, A.; Selvaggi, G.; Sharma, A.; Silvestris, L.; Venditti, R.; Verwilligen, P.; Abbiendi, G.; Battilana, C.; Bonacorsi, D.; Braibant-Giacomelli, S.; Campanini, R.; Capiluppi, P.; Castro, A.; Cavallo, F. R.; Chhibra, S. S.; Codispoti, G.; Cuffiani, M.; Dallavalle, G. M.; Fabbri, F.; Fanfani, A.; Fasanella, D.; Giacomelli, P.; Grandi, C.; Guiducci, L.; Marcellini, S.; Masetti, G.; Montanari, A.; Navarria, F. L.; Perrotta, A.; Rossi, A. M.; Rovelli, T.; Siroli, G. 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M.; Bhopatkar, V.; Colafranceschi, S.; Hohlmann, M.; Noonan, D.; Roy, T.; Yumiceva, F.; Adams, M. R.; Apanasevich, L.; Berry, D.; Betts, R. R.; Cavanaugh, R.; Chen, X.; Evdokimov, O.; Gerber, C. E.; Hangal, D. A.; Hofman, D. J.; Jung, K.; Kamin, J.; Sandoval Gonzalez, I. D.; Tonjes, M. B.; Trauger, H.; Varelas, N.; Wang, H.; Wu, Z.; Zhang, J.; Bilki, B.; Clarida, W.; Dilsiz, K.; Durgut, S.; Gandrajula, R. P.; Haytmyradov, M.; Khristenko, V.; Merlo, J.-P.; Mermerkaya, H.; Mestvirishvili, A.; Moeller, A.; Nachtman, J.; Ogul, H.; Onel, Y.; Ozok, F.; Penzo, A.; Snyder, C.; Tiras, E.; Wetzel, J.; Yi, K.; Blumenfeld, B.; Cocoros, A.; Eminizer, N.; Fehling, D.; Feng, L.; Gritsan, A. V.; Maksimovic, P.; Roskes, J.; Sarica, U.; Swartz, M.; Xiao, M.; You, C.; Al-bataineh, A.; Baringer, P.; Bean, A.; Boren, S.; Bowen, J.; Castle, J.; Khalil, S.; Kropivnitskaya, A.; Majumder, D.; Mcbrayer, W.; Murray, M.; Royon, C.; Sanders, S.; Schmitz, E.; Stringer, R.; Tapia Takaki, J. D.; Wang, Q.; Ivanov, A.; Kaadze, K.; Maravin, Y.; Mohammadi, A.; Saini, L. K.; Skhirtladze, N.; Toda, S.; Rebassoo, F.; Wright, D.; Anelli, C.; Baden, A.; Baron, O.; Belloni, A.; Calvert, B.; Eno, S. C.; Ferraioli, C.; Hadley, N. J.; Jabeen, S.; Jeng, G. Y.; Kellogg, R. G.; Kunkle, J.; Mignerey, A. C.; Ricci-Tam, F.; Shin, Y. H.; Skuja, A.; Tonwar, S. C.; Abercrombie, D.; Allen, B.; Azzolini, V.; Barbieri, R.; Baty, A.; Bi, R.; Brandt, S.; Busza, W.; Cali, I. A.; D'Alfonso, M.; Demiragli, Z.; Gomez Ceballos, G.; Goncharov, M.; Hsu, D.; Iiyama, Y.; Innocenti, G. M.; Klute, M.; Kovalskyi, D.; Lai, Y. S.; Lee, Y.-J.; Levin, A.; Luckey, P. D.; Maier, B.; Marini, A. C.; Mcginn, C.; Mironov, C.; Narayanan, S.; Niu, X.; Paus, C.; Roland, C.; Roland, G.; Salfeld-Nebgen, J.; Stephans, G. S. F.; Tatar, K.; Velicanu, D.; Wang, J.; Wang, T. W.; Wyslouch, B.; Benvenuti, A. C.; Chatterjee, R. M.; Evans, A.; Hansen, P.; Kalafut, S.; Kubota, Y.; Lesko, Z.; Mans, J.; Nourbakhsh, S.; Ruckstuhl, N.; Rusack, R.; Turkewitz, J.; Acosta, J. G.; Oliveros, S.; Avdeeva, E.; Bloom, K.; Claes, D. R.; Fangmeier, C.; Gonzalez Suarez, R.; Kamalieddin, R.; Kravchenko, I.; Monroy, J.; Siado, J. E.; Snow, G. R.; Stieger, B.; Alyari, M.; Dolen, J.; Godshalk, A.; Harrington, C.; Iashvili, I.; Nguyen, D.; Parker, A.; Rappoccio, S.; Roozbahani, B.; Alverson, G.; Barberis, E.; Hortiangtham, A.; Massironi, A.; Morse, D. M.; Nash, D.; Orimoto, T.; Teixeira De Lima, R.; Trocino, D.; Wood, D.; Bhattacharya, S.; Charaf, O.; Hahn, K. A.; Mucia, N.; Odell, N.; Pollack, B.; Schmitt, M. H.; Sung, K.; Trovato, M.; Velasco, M.; Dev, N.; Hildreth, M.; Hurtado Anampa, K.; Jessop, C.; Karmgard, D. J.; Kellams, N.; Lannon, K.; Loukas, N.; Marinelli, N.; Meng, F.; Mueller, C.; Musienko, Y.; Planer, M.; Reinsvold, A.; Ruchti, R.; Smith, G.; Taroni, S.; Wayne, M.; Wolf, M.; Woodard, A.; Alimena, J.; Antonelli, L.; Bylsma, B.; Durkin, L. S.; Flowers, S.; Francis, B.; Hart, A.; Hill, C.; Ji, W.; Liu, B.; Luo, W.; Puigh, D.; Winer, B. L.; Wulsin, H. W.; Cooperstein, S.; Driga, O.; Elmer, P.; Hardenbrook, J.; Hebda, P.; Higginbotham, S.; Lange, D.; Luo, J.; Marlow, D.; Mei, K.; Ojalvo, I.; Olsen, J.; Palmer, C.; Piroué, P.; Stickland, D.; Tully, C.; Malik, S.; Norberg, S.; Barker, A.; Barnes, V. E.; Das, S.; Folgueras, S.; Gutay, L.; Jha, M. K.; Jones, M.; Jung, A. W.; Khatiwada, A.; Miller, D. H.; Neumeister, N.; Peng, C. C.; Schulte, J. F.; Sun, J.; Wang, F.; Xie, W.; Cheng, T.; Parashar, N.; Stupak, J.; Adair, A.; Akgun, B.; Chen, Z.; Ecklund, K. M.; Geurts, F. J. M.; Guilbaud, M.; Li, W.; Michlin, B.; Northup, M.; Padley, B. P.; Roberts, J.; Rorie, J.; Tu, Z.; Zabel, J.; Bodek, A.; de Barbaro, P.; Demina, R.; Duh, Y. t.; Ferbel, T.; Galanti, M.; Garcia-Bellido, A.; Han, J.; Hindrichs, O.; Khukhunaishvili, A.; Lo, K. H.; Tan, P.; Verzetti, M.; Ciesielski, R.; Goulianos, K.; Mesropian, C.; Agapitos, A.; Chou, J. P.; Gershtein, Y.; Gómez Espinosa, T. A.; Halkiadakis, E.; Heindl, M.; Hughes, E.; Kaplan, S.; Kunnawalkam Elayavalli, R.; Kyriacou, S.; Lath, A.; Montalvo, R.; Nash, K.; Osherson, M.; Saka, H.; Salur, S.; Schnetzer, S.; Sheffield, D.; Somalwar, S.; Stone, R.; Thomas, S.; Thomassen, P.; Walker, M.; Delannoy, A. G.; Foerster, M.; Heideman, J.; Riley, G.; Rose, K.; Spanier, S.; Thapa, K.; Bouhali, O.; Castaneda Hernandez, A.; Celik, A.; Dalchenko, M.; De Mattia, M.; Delgado, A.; Dildick, S.; Eusebi, R.; Gilmore, J.; Huang, T.; Kamon, T.; Mueller, R.; Pakhotin, Y.; Patel, R.; Perloff, A.; Perniè, L.; Rathjens, D.; Safonov, A.; Tatarinov, A.; Ulmer, K. A.; Akchurin, N.; Damgov, J.; De Guio, F.; Dudero, P. R.; Faulkner, J.; Gurpinar, E.; Kunori, S.; Lamichhane, K.; Lee, S. W.; Libeiro, T.; Peltola, T.; Undleeb, S.; Volobouev, I.; Wang, Z.; Greene, S.; Gurrola, A.; Janjam, R.; Johns, W.; Maguire, C.; Melo, A.; Ni, H.; Sheldon, P.; Tuo, S.; Velkovska, J.; Xu, Q.; Arenton, M. W.; Barria, P.; Cox, B.; Hirosky, R.; Ledovskoy, A.; Li, H.; Neu, C.; Sinthuprasith, T.; Wang, Y.; Wolfe, E.; Xia, F.; Harr, R.; Karchin, P. E.; Sturdy, J.; Zaleski, S.; Brodski, M.; Buchanan, J.; Caillol, C.; Dasu, S.; Dodd, L.; Duric, S.; Gomber, B.; Grothe, M.; Herndon, M.; Hervé, A.; Hussain, U.; Klabbers, P.; Lanaro, A.; Levine, A.; Long, K.; Loveless, R.; Pierro, G. A.; Polese, G.; Ruggles, T.; Savin, A.; Smith, N.; Smith, W. H.; Taylor, D.; Woods, N.

2018-03-01

Search results are presented for physics beyond the standard model in final states with two opposite-charge, same-flavor leptons, jets, and missing transverse momentum. The data sample corresponds to an integrated luminosity of 35.9 fb-1 of proton-proton collisions at √{s}=13 TeV collected with the CMS detector at the LHC in 2016. The analysis uses the invariant mass of the lepton pair, searching for a kinematic edge or a resonant-like excess compatible with the Z boson mass. The search for a kinematic edge targets production of particles sensitive to the strong force, while the resonance search targets both strongly and electroweakly produced new physics. The observed yields are consistent with the expectations from the standard model, and the results are interpreted in the context of simplified models of supersymmetry. In a gauge mediated supersymmetry breaking (GMSB) model of gluino pair production with decay chains including Z bosons, gluino masses up to 1500-1770 GeV are excluded at the 95% confidence level depending on the lightest neutralino mass. In a model of electroweak chargino-neutralino production, chargino masses as high as 610 GeV are excluded when the lightest neutralino is massless. In GMSB models of electroweak neutralino-neutralino production, neutralino masses up to 500-650 GeV are excluded depending on the decay mode assumed. Finally, in a model with bottom squark pair production and decay chains resulting in a kinematic edge in the dilepton invariant mass distribution, bottom squark masses up to 980-1200 GeV are excluded depending on the mass of the next-to-lightest neutralino. [Figure not available: see fulltext.

Search for new phenomena in final states with two opposite-charge, same-flavor leptons, jets, and missing transverse momentum in pp collisions at $$ \\sqrt{s}=13 $$ TeV

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sirunyan, Albert M; et al.

2018-03-13

Search results are presented for physics beyond the standard model in final states with two opposite-charge, same-flavor leptons, jets, and missing transverse momentum. The data sample corresponds to an integrated luminosity of 35.9 fbmore » $$^{-1}$$ of proton-proton collisions at $$\\sqrt{s} = $$ 13 TeV collected with the CMS detector at the LHC in 2016. The analysis uses the invariant mass of the lepton pair, searching for a kinematic edge or a resonant-like excess compatible with the Z boson mass. The search for a kinematic edge targets production of particles sensitive to the strong force, while the resonance search targets both strongly and electroweakly produced new physics. The observed yields are consistent with the expectations from the standard model, and the results are interpreted in the context of simplified models of supersymmetry. In a gauge mediated supersymmetry breaking (GMSB) model of gluino pair production with decay chains including Z bosons, gluino masses up to 1500-1770 GeV are excluded at the 95% confidence level depending on the lightest neutralino mass. In a model of electroweak chargino-neutralino production, chargino masses as high as 610 GeV are excluded when the lightest neutralino is massless. In GMSB models of electroweak neutralino-neutralino production, neutralino masses up to 500-650 GeV are excluded depending on the decay mode assumed. Finally, in a model with bottom squark pair production and decay chains resulting in a kinematic edge in the dilepton invariant mass distribution, bottom squark masses up to 980-1200 GeV are excluded depending on the mass of the next-to-lightest neutralino.« less

A new high-resolution kinematic model for the southern North Atlantic region: the Iberian plate kinematics since the Late Cretaceous

NASA Astrophysics Data System (ADS)

Macchiavelli, Chiara; Vergés, Jaume; Schettino, Antonio; Fernández, Manel; Turco, Eugenio; Torné, Montserrat; Casciello, Emilio

2017-04-01

We present the first high-resolution kinematic model for the southern North Atlantic since the late Cretaceous, in order to constrain the Iberian kinematics during the last 83 Myr. Assessing the detailed movements of the Iberian plate is crucial to constrain the kinematics of the Western Mediterranean region and to better understand the Pyrenees and Betic - Rif orogenic systems evolution. The new plate motions model for the Iberia - North America plate pair is accompanied by a high-resolution isochron map for the southern North Atlantic region, resulting from a re-examination of 400 ship tracks and 3 aeromagnetic tracks in the NGDC data base for the area between the Azores triple junction and 46° N. We derive a well-constrained kinematic solution for the relative motion between an independent Iberia and North America from seafloor spreading data despite the short length of the magnetic lineations and the scarcity of large-offset transform faults and fracture zones. Accurate finite reconstruction poles for the Iberia - North America conjugate plate pair between the Late Cretaceous (Chron 34, 83.5 Ma) and the present day (Chron 2A, 2.58 Ma) are calculated on the basis of a set of 100 magnetic profiles through an iterative method. Euler poles and associated angles of rotation are computed as follow. An initial rotation pole is calculated using only magnetic anomaly crossings. The initial large uncertainty associated with the first determination is reduced by generating a set of synthetic fracture zones associated with the initial pole and using points sampled along these structures in conjunction with magnetic anomaly crossings to calculate a new Euler pole and associated confidence ellipse. This procedure is repeated n times, generating a sequence of improving approximate solutions and stopped when the solution become stable excluding solutions that were inconsistent with geological constraints. We used these results to build a comprehensive kinematic model for the North America - Iberia - Europe - Africa - Morocco plate system. A set of plate reconstructions illustrates the Iberian plate kinematics and show plate boundaries and velocity fields since the Late Cretaceous attempting to reconcile the geology of Pyrenees and Betic - Rif chain and the kinematic of the southern North Atlantic Ocean. This research is supported by project ALPIMED (PIE-CSIC-201530E082)

Electromyographic Analysis of Single-Leg, Closed Chain Exercises: Implications for Rehabilitation After Anterior Cruciate Ligament Reconstruction

PubMed Central

Beutler, Anthony I.; Cooper, Leslie W.; Kirkendall, Don T.; Garrett, William E.

2002-01-01

Objective: Many knee rehabilitation studies have examined open and closed kinetic chain exercises. However, most studies focus on 2-legged, closed chain exercise. The purpose of our study was to characterize 1-legged, closed chain exercise in young, healthy subjects. Subjects: Eighteen normal subjects (11 men, 7 women; age, 24.6 ± 1.6 years) performed unsupported, 1-legged squats and step-ups to approximately tibial height. Measurements: Knee angle data and surface electromyographic activity from the thigh muscles were recorded. Results: The maximum angle of knee flexion was 111 ± 23° for squats and 101 ± 16° for step-ups. The peak quadriceps activation was 201 ± 66% maximum voluntary isometric contraction, occurring at an angle of 96 ± 16° for squats. Peak quadriceps activation was 207 ± 50% maximum voluntary isometric contraction and occurred at 83 ± 12° for step-ups. Conclusions: The high and sustained levels of quadriceps activation indicate that 1-legged squats and step-ups would be effective in muscle rehabilitation. As functional, closed chain activities, they may also be protective of anterior cruciate ligament grafts. Because these exercises involve no weights or training equipment, they may prove more cost effective than traditional modes of rehabilitation. PMID:12937438

Relationship between gluteal muscle activation and upper extremity kinematics and kinetics in softball position players.

PubMed

Oliver, Gretchen D

2014-03-01

As the biomechanical literature concerning softball pitching is evolving, there are no data to support the mechanics of softball position players. Pitching literature supports the whole kinetic chain approach including the lower extremity in proper throwing mechanics. The purpose of this project was to examine the gluteal muscle group activation patterns and their relationship with shoulder and elbow kinematics and kinetics during the overhead throwing motion of softball position players. Eighteen Division I National Collegiate Athletic Association softball players (19.2 ± 1.0 years; 68.9 ± 8.7 kg; 168.6 ± 6.6 cm) who were listed on the active playing roster volunteered. Electromyographic, kinematic, and kinetic data were collected while players caught a simulated hit or pitched ball and perform their position throw. Pearson correlation revealed a significant negative correlation between non-throwing gluteus maximus during the phase of maximum external rotation to maximum internal rotation (MIR) and elbow moments at ball release (r = -0.52). While at ball release, trunk flexion and rotation both had a positive relationship with shoulder moments at MIR (r = 0.69, r = 0.82, respectively) suggesting that the kinematic actions of the pelvis and trunk are strongly related to the actions of the shoulder during throwing.

SOFIA Observations of S106: Dynamics of the Warm Gas

NASA Technical Reports Server (NTRS)

Simon, R.; Schneider, N.; Stutzki, J.; Gusten, R.; Graf, U. U.; Hartogh, P.; Guan, X.; Staguhn, J. G.; Benford, D. J.

2012-01-01

Context The H II region/PDR/molecular cloud complex S106 is excited by a single O-star. The full extent of the warm and dense gas close to the star has not been mapped in spectrally resolved high-J CO or [C II] lines, so the kinematics of the warm. partially ionized gas, are unknown. Whether the prominent dark lane bisecting the hourglass-shaped nebula is due solely to the shadow cast by a small disk around the exciting star or also to extinction in high column foreground gas was an open question until now. Aims. To disentangle the morphology and kinematics of warm neutral and ionized gas close to the star, study their relation to the bulk of the molecular gas. and to investigate the nature of the dark lane. Methods. We use the heterodyne receiver GREAT on board SOFIA to observe velocity resolved spectral lines of [C II] and CO 11 yields 10 in comparison with so far unpublished submm continuum data at 350 micron (8HARC-Il) and complementary molecular line data. Results. The high angular and spectral resolution observations show a very complex morphology and kinematics of the inner S106 region, with many different components at different excitation conditions contributing to the observed emission. The [C II] lines are found to be bright and very broad. tracing high velocity gas close to the interface of molecular cloud and H II region. CO 11 yields 10 emission is more confined.. both spatially and in velocity, to the immediate surroundings of S 106 IR showing the presence of warm, high density (clumpy) gas. Our high angular resolution submm continuum observations rule out the scenario where the dark lane separating the two lobes is due solely to the shadow cast by a small disk close to the star. The lane is clearly seen also as warm, high column density gas at the boundary of the molecular cloud and H II region.

Sensor module design and forward and inverse kinematics analysis of 6-DOF sorting transferring robot

NASA Astrophysics Data System (ADS)

Zhou, Huiying; Lin, Jiajian; Liu, Lei; Tao, Meng

2017-09-01

To meet the demand of high strength express sorting, it is significant to design a robot with multiple degrees of freedom that can sort and transfer. This paper uses infrared sensor, color sensor and pressure sensor to receive external information, combine the plan of motion path in advance and the feedback information from the sensors, then write relevant program. In accordance with these, we can design a 6-DOF robot that can realize multi-angle seizing. In order to obtain characteristics of forward and inverse kinematics, this paper describes the coordinate directions and pose estimation by the D-H parameter method and closed solution. On the basis of the solution of forward and inverse kinematics, geometric parameters of links and link parameters are optimized in terms of application requirements. In this way, this robot can identify route, sort and transfer.

Experimental study of trajectory planning and control of a high precision robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1991-01-01

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

High-speed photogrammetry system for measuring the kinematics of insect wings

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wallace, Iain D.; Lawson, Nicholas J.; Harvey, Andrew R.

2006-06-10

We describe and characterize an experimental system to perform shape measurements on deformable objects using high-speed close-range photogrammetry. The eventual application is to extract the kinematics of several marked points on an insect wing during tethered and hovering flight. We investigate the performance of the system with a small number of views and determine an empirical relation between the mean pixel error of the optimization routine and the position error. Velocity and acceleration are calculated by numerical differencing, and their relation to the position errors is verified. For a field of view of {approx}40mmx40 mm, a rms accuracy of 30more » {mu}m in position, 150 mm/s in velocity, and 750 m/s2 in acceleration at 5000 frames/s is achieved. This accuracy is sufficient to measure the kinematics of hoverfly flight.« less

Dark Matter or Modified Dynamics? Hints from Galaxy Kinematics

NASA Astrophysics Data System (ADS)

Gentile, G.

2010-12-01

I show two observational projects I am involved in, which are aimed at understanding better the existence and nature of dark matter, and also aimed at testing alternatives to galactic dark matter such as MOND (Modified Newtonian Dynamics). I present new HI observations of the nearby dwarf galaxy NGC 3741. This galaxy has an extremely extended HI disc (42 B-band exponential scalelengths). The distribution and kinematics are accurately derived by building model data cubes, which closely reproduce the observations. Mass modelling of the rotation curve shows that a cored dark matter halo or MOND provide very good fits, whereas Cold Dark Matter density profiles fail to fit the data. I also show new results about tidal dwarf galaxies, which within the CDM framework are expected to be dark matter-free but whose kinematics instead show a mass discrepancy, exactly of the magnitude that is expected in MOND (Modified Newtonian Dynamics).

Kinematics of the human mandible for different head postures.

PubMed

Visscher, C M; Huddleston Slater, J J; Lobbezoo, F; Naeije, M

2000-04-01

The influence of head posture on movement paths of the incisal point (IP) and of the mandibular condyles during free open-close movements was studied. Ten persons, without craniomandibular or cervical spine disorders, participated in the study. Open close mandibular movements were recorded with the head in five postures, viz., natural head posture, forward head posture, military posture, and lateroflexion to the right and to the left side, using the Oral Kinesiologic Analysis System (OKAS-3D). This study showed that in a military head posture, the opening movement path of the incisal point is shifted anteriorly relative to the path in a natural head posture. In a forward head posture, the movement path is shifted posteriorly whereas during lateroflexion, it deviates to the side the head has moved to. Moreover, the intra-articular distance in the temporomandibular joint during closing is smaller with the head in military posture and greater in forward head posture, as compared to the natural head posture. During lateroflexion, the intra-articular distance on the ipsilateral side is smaller. The influence of head posture upon the kinematics of the mandible is probably a manifestation of differences in mandibular loading in the different head postures.

Parallelism in Manipulator Dynamics. Revision.

DTIC Science & Technology

1983-12-01

computing the motor torques required to drive a lower-pair kinematic chain (e.g., a typical manipulator arm in free motion, or a mechanical leg in the... computations , and presents two "mathematically exact" formulationsespecially suited to high-speed, highly parallel implementa- tions using special-purpose...YNAMICS by I(IIAR) IIAROLI) LATIROP .4ISTRACT This paper addresses the problem of efficiently computing the motor torques required to drive a lower-pair

New Factorization Techniques and Parallel (log N) Algorithms for Forward Dynamics Solution of Single Closed-Chain Robot Manipulators

NASA Technical Reports Server (NTRS)

Fijany, Amir

1993-01-01

In this paper parallel 0(log N) algorithms for dynamic simulation of single closed-chain rigid multibody system as specialized to the case of a robot manipulatoar in contact with the environment are developed.

Dynamic Determinants of the Uncontrolled Manifold during Human Quiet Stance

PubMed Central

Suzuki, Yasuyuki; Morimoto, Hiroki; Kiyono, Ken; Morasso, Pietro G.; Nomura, Taishin

2016-01-01

Human postural sway during stance arises from coordinated multi-joint movements. Thus, a sway trajectory represented by a time-varying postural vector in the multiple-joint-angle-space tends to be constrained to a low-dimensional subspace. It has been proposed that the subspace corresponds to a manifold defined by a kinematic constraint, such that the position of the center of mass (CoM) of the whole body is constant in time, referred to as the kinematic uncontrolled manifold (kinematic-UCM). A control strategy related to this hypothesis (CoM-control-strategy) claims that the central nervous system (CNS) aims to keep the posture close to the kinematic-UCM using a continuous feedback controller, leading to sway patterns that mostly occur within the kinematic-UCM, where no corrective control is exerted. An alternative strategy proposed by the authors (intermittent control-strategy) claims that the CNS stabilizes posture by intermittently suspending the active feedback controller, in such a way to allow the CNS to exploit a stable manifold of the saddle-type upright equilibrium in the state-space of the system, referred to as the dynamic-UCM, when the state point is on or near the manifold. Although the mathematical definitions of the kinematic- and dynamic-UCM are completely different, both UCMs play similar roles in the stabilization of multi-joint upright posture. The purpose of this study was to compare the dynamic performance of the two control strategies. In particular, we considered a double-inverted-pendulum-model of postural control, and analyzed the two UCMs defined above. We first showed that the geometric configurations of the two UCMs are almost identical. We then investigated whether the UCM-component of experimental sway could be considered as passive dynamics with no active control, and showed that such UCM-component mainly consists of high frequency oscillations above 1 Hz, corresponding to anti-phase coordination between the ankle and hip. We also showed that this result can be better characterized by an eigenfrequency associated with the dynamic-UCM. In summary, our analysis highlights the close relationship between the two control strategies, namely their ability to simultaneously establish small CoM variations and postural stability, but also make it clear that the intermittent control hypothesis better explains the spectral characteristics of sway. PMID:27999535

Dynamic Determinants of the Uncontrolled Manifold during Human Quiet Stance.

PubMed

Suzuki, Yasuyuki; Morimoto, Hiroki; Kiyono, Ken; Morasso, Pietro G; Nomura, Taishin

2016-01-01

Human postural sway during stance arises from coordinated multi-joint movements. Thus, a sway trajectory represented by a time-varying postural vector in the multiple-joint-angle-space tends to be constrained to a low-dimensional subspace. It has been proposed that the subspace corresponds to a manifold defined by a kinematic constraint, such that the position of the center of mass (CoM) of the whole body is constant in time, referred to as the kinematic uncontrolled manifold ( kinematic-UCM ). A control strategy related to this hypothesis ( CoM-control-strategy ) claims that the central nervous system (CNS) aims to keep the posture close to the kinematic-UCM using a continuous feedback controller, leading to sway patterns that mostly occur within the kinematic-UCM, where no corrective control is exerted. An alternative strategy proposed by the authors ( intermittent control-strategy ) claims that the CNS stabilizes posture by intermittently suspending the active feedback controller, in such a way to allow the CNS to exploit a stable manifold of the saddle-type upright equilibrium in the state-space of the system, referred to as the dynamic-UCM , when the state point is on or near the manifold. Although the mathematical definitions of the kinematic- and dynamic-UCM are completely different, both UCMs play similar roles in the stabilization of multi-joint upright posture. The purpose of this study was to compare the dynamic performance of the two control strategies. In particular, we considered a double-inverted-pendulum-model of postural control, and analyzed the two UCMs defined above. We first showed that the geometric configurations of the two UCMs are almost identical. We then investigated whether the UCM-component of experimental sway could be considered as passive dynamics with no active control, and showed that such UCM-component mainly consists of high frequency oscillations above 1 Hz, corresponding to anti-phase coordination between the ankle and hip. We also showed that this result can be better characterized by an eigenfrequency associated with the dynamic-UCM. In summary, our analysis highlights the close relationship between the two control strategies, namely their ability to simultaneously establish small CoM variations and postural stability, but also make it clear that the intermittent control hypothesis better explains the spectral characteristics of sway.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Unseren, M.A.

The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Unseren, M.A.

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

Computed torque control of a free-flying cooperat ing-arm robot

NASA Technical Reports Server (NTRS)

Koningstein, Ross; Ullman, Marc; Cannon, Robert H., Jr.

1989-01-01

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.

Development and validation of real-time simulation of X-ray imaging with respiratory motion.

PubMed

Vidal, Franck P; Villard, Pierre-Frédéric

2016-04-01

We present a framework that combines evolutionary optimisation, soft tissue modelling and ray tracing on GPU to simultaneously compute the respiratory motion and X-ray imaging in real-time. Our aim is to provide validated building blocks with high fidelity to closely match both the human physiology and the physics of X-rays. A CPU-based set of algorithms is presented to model organ behaviours during respiration. Soft tissue deformation is computed with an extension of the Chain Mail method. Rigid elements move according to kinematic laws. A GPU-based surface rendering method is proposed to compute the X-ray image using the Beer-Lambert law. It is provided as an open-source library. A quantitative validation study is provided to objectively assess the accuracy of both components: (i) the respiration against anatomical data, and (ii) the X-ray against the Beer-Lambert law and the results of Monte Carlo simulations. Our implementation can be used in various applications, such as interactive medical virtual environment to train percutaneous transhepatic cholangiography in interventional radiology, 2D/3D registration, computation of digitally reconstructed radiograph, simulation of 4D sinograms to test tomography reconstruction tools. Copyright © 2015 Elsevier Ltd. All rights reserved.

Exploiting target amplitude information to improve multi-target tracking

NASA Astrophysics Data System (ADS)

Ehrman, Lisa M.; Blair, W. Dale

2006-05-01

Closely-spaced (but resolved) targets pose a challenge for measurement-to-track data association algorithms. Since the Mahalanobis distances between measurements collected on closely-spaced targets and tracks are similar, several elements of the corresponding kinematic measurement-to-track cost matrix are also similar. Lacking any other information on which to base assignments, it is not surprising that data association algorithms make mistakes. One ad hoc approach for mitigating this problem is to multiply the kinematic measurement-to-track likelihoods by amplitude likelihoods. However, this can actually be detrimental to the measurement-to-track association process. With that in mind, this paper pursues a rigorous treatment of the hypothesis probabilities for kinematic measurements and features. Three simple scenarios are used to demonstrate the impact of basing data association decisions on these hypothesis probabilities for Rayleigh, fixed-amplitude, and Rician targets. The first scenario assumes that the tracker carries two tracks but only one measurement is collected. This provides insight into more complex scenarios in which there are fewer measurements than tracks. The second scenario includes two measurements and one track. This extends naturally to the case with more measurements than tracks. Two measurements and two tracks are present in the third scenario, which provides insight into the performance of this method when the number of measurements equals the number of tracks. In all cases, basing data association decisions on the hypothesis probabilities leads to good results.

A morphological novelty for feeding and sound production in the yellowtail clownfish.

PubMed

Olivier, Damien; Frédérich, Bruno; Herrel, Anthony; Parmentier, Eric

2015-04-01

The yellowtail clownfish Amphiprion clarkii is able to close its mouth very quickly by means of the cerato-mandibular (c-md) ligament, a synapomorphic trait of Pomacentridae joining the hyoid bar to the medial part of the lower jaw. This fast closure induces tooth collision, thus producing sounds that the clownfish uses during agonistic behaviors. To investigate whether this rapid jaw movement is also used during feeding, we analyzed the kinematics of sound production and feeding. Sound production, feeding on live planktonic prey, and feeding on food attached to tweezers was filmed with a high-speed camera. Three kinds of kinematic patterns were detected and were associated with the two different types of food presented: one performed to catch planktonic prey (PP), and two (called B-1 and B-2) to bite attached food items. The kinematic pattern of B-2 is similar to that observed during sound production (SP) and the transection of the c-md ligament highlights that sound production and biting-2 motions are dependent on this morphological trait. Our data show that the c-md ligament in addition to its role in sound production allows duplication of the mouth-closing mechanism during feeding. This highlights the key role played by the c-md ligament in sound production and feeding on attached prey. J. Exp. Zool. 323A: 227-238, 2015. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.

Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

PubMed Central

Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia

2015-01-01

Background: The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Methods: Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0–135° flexion. Results: Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, “rollback” compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. Conclusions: There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis. PMID:25591565

Kinematic, Muscular, and Metabolic Responses During Exoskeletal-, Elliptical-, or Therapist-Assisted Stepping in People With Incomplete Spinal Cord Injury

PubMed Central

Kinnaird, Catherine R.; Holleran, Carey L.; Rafferty, Miriam R.; Rodriguez, Kelly S.; Cain, Julie B.

2012-01-01

Background Robotic-assisted locomotor training has demonstrated some efficacy in individuals with neurological injury and is slowly gaining clinical acceptance. Both exoskeletal devices, which control individual joint movements, and elliptical devices, which control endpoint trajectories, have been utilized with specific patient populations and are available commercially. No studies have directly compared training efficacy or patient performance during stepping between devices. Objective The purpose of this study was to evaluate kinematic, electromyographic (EMG), and metabolic responses during elliptical- and exoskeletal-assisted stepping in individuals with incomplete spinal cord injury (SCI) compared with therapist-assisted stepping. Design A prospective, cross-sectional, repeated-measures design was used. Methods Participants with incomplete SCI (n=11) performed 3 separate bouts of exoskeletal-, elliptical-, or therapist-assisted stepping. Unilateral hip and knee sagittal-plane kinematics, lower-limb EMG recordings, and oxygen consumption were compared across stepping conditions and with control participants (n=10) during treadmill stepping. Results Exoskeletal stepping kinematics closely approximated normal gait patterns, whereas significantly greater hip and knee flexion postures were observed during elliptical-assisted stepping. Measures of kinematic variability indicated consistent patterns in control participants and during exoskeletal-assisted stepping, whereas therapist- and elliptical-assisted stepping kinematics were more variable. Despite specific differences, EMG patterns generally were similar across stepping conditions in the participants with SCI. In contrast, oxygen consumption was consistently greater during therapist-assisted stepping. Limitations Limitations included a small sample size, lack of ability to evaluate kinetics during stepping, unilateral EMG recordings, and sagittal-plane kinematics. Conclusions Despite specific differences in kinematics and EMG activity, metabolic activity was similar during stepping in each robotic device. Understanding potential differences and similarities in stepping performance with robotic assistance may be important in delivery of repeated locomotor training using robotic or therapist assistance and for consumers of robotic devices. PMID:22700537

Analogies between Kirchhoff plates and functionally graded Saint-Venant beams under torsion

NASA Astrophysics Data System (ADS)

Barretta, Raffaele; Luciano, Raimondo

2015-05-01

Exact solutions of elastic Kirchhoff plates are available only for special geometries, loadings and kinematic boundary constraints. An effective solution procedure, based on an analogy between functionally graded orthotropic Saint-Venant beams under torsion and inhomogeneous isotropic Kirchhoff plates, with no kinematic boundary constraints, is proposed. The result extends the one contributed in Barretta (Acta Mech 224(12):2955-2964, 2013) for the special case of homogeneous Saint-Venant beams under torsion. Closed-form solutions for displacement, bending-twisting moment and curvature fields of an elliptic plate, corresponding to a functionally graded orthotropic beam, are evaluated. A new benchmark for computational mechanics is thus provided.

The effective compliance of spatially evolving planar wing-cracks

NASA Astrophysics Data System (ADS)

Ayyagari, R. S.; Daphalapurkar, N. P.; Ramesh, K. T.

2018-02-01

We present an analytic closed form solution for anisotropic change in compliance due to the spatial evolution of planar wing-cracks in a material subjected to largely compressive loading. A fully three-dimensional anisotropic compliance tensor is defined and evaluated considering the wing-crack mechanism, using a mixed-approach based on kinematic and energetic arguments to derive the coefficients in incremental compliance. Material, kinematic and kinetic parametric influences on the increments in compliance are studied in order to understand their physical implications on material failure. Model verification is carried out through comparisons to experimental uniaxial compression results to showcase the predictive capabilities of the current study.

Accelerated horizons and Planck-scale kinematics

NASA Astrophysics Data System (ADS)

Arzano, Michele; Laudonio, Matteo

2018-04-01

We extend the concept of accelerated horizons to the framework of deformed relativistic kinematics at the Planck scale. We show that the nontrivial effects due to symmetry deformation manifest in a finite blueshift for field modes as measured by a Rindler observer approaching the horizon. We investigate whether, at a field theoretic level, this effect could manifest in the possibility of a finite horizon contribution to the entropy, a sort of covariant brick wall. In the specific model of symmetry deformation considered, it will turn out that a nondiverging density of modes close to the horizon can be achieved only by introducing a momentum space measure which violates Lorentz invariance.

Search for kinematic siblings of the sun based on data from the XHIP catalog

NASA Astrophysics Data System (ADS)

Bobylev, V. V.; Bajkova, A. T.

2014-06-01

From the XHIP catalogue, we have selected 1872 F-G-K stars with relative parallax measurement errors <20% and absolute values of their space velocities relative to the Sun <15 km s-1. For all these stars, we have constructed their Galactic orbits for 4.5 Gyr into the past using an axisymmetric Galactic potential model with allowance made for the perturbations from the spiral density wave. Parameters of the encounter with the solar orbit have been calculated for each orbit. We have detected three new stars whose Galactic orbits were close to the solar one during a long time interval in the past. These stars are HIP 43852, HIP 104047, and HIP 112158. The spectroscopic binary HIP 112158 is poorly suited for the role of a kinematic sibling of the Sun by its age and spectroscopic characteristics. For the single star HIP 43852 and the multiple system HIP 104047, this role is quite possible. We have also confirmed the status of our previously found candidates for close encounters, HIP 47399 and HIP 87382. The star HIP 87382 with a chemical composition very close to the solar one is currently the most likely candidate, because it persistently shows close encounters with the Sun on time scales of more than 3 Gyr when using various Galactic potential models both without and with allowance made for the influence of the spiral density wave.

Differences in ball speed and three-dimensional kinematics between male and female handball players during a standing throw with run-up.

PubMed

Serrien, Ben; Clijsen, Ron; Blondeel, Jonathan; Goossens, Maggy; Baeyens, Jean-Pierre

2015-01-01

The purpose of this paper was to examine differences in ball release speed and throwing kinematics between male and female team-handball players in a standing throw with run-up. Other research has shown that this throwing type produces the highest ball release speeds and comparing groups with differences in ball release speed can suggest where this difference might come from. If throwing technique differs, perhaps gender-specific coordination- and strength-training guidelines are in order. Measurements of three-dimensional kinematics were performed with a seven-camera VICON motion capture system and subsequent joint angles and angular velocities calculations were executed in Mathcad. Data-analysis with Statistical Parametric Mapping allowed us to examine the entire time-series of every variable without having to reduce the data to certain scalar values such as minima/maxima extracted from the time-series. Statistical Parametric Mapping enabled us to detect several differences in the throwing kinematics (12 out of 20 variables had one or more differences somewhere during the motion). The results indicated two distinct strategies in generating and transferring momentum through the kinematic chain. Male team-handball players showed more activity in the transverse plane (pelvis and trunk rotation and shoulder horizontal abduction) whereas female team-handball players showed more activity in the sagital plane (trunk flexion). Also the arm cocking maneuver was quite different. The observed differences between male and female team handball players in the motions of pelvis, trunk and throwing arm can be important information for coaches to give feedback to athletes. Whether these differences contribute to the observed difference in ball release speed is at the present unclear and more research on the relation with anthropometric profile needs to be done. Kinematic differences might suggest gender-specific training guidelines in team-handball.

Uplift rates of marine terraces as a constraint on fault-propagation fold kinematics: Examples from the Hawkswood and Kate anticlines, North Canterbury, New Zealand

NASA Astrophysics Data System (ADS)

Oakley, David O. S.; Fisher, Donald M.; Gardner, Thomas W.; Stewart, Mary Kate

2018-01-01

Marine terraces on growing fault-propagation folds provide valuable insight into the relationship between fold kinematics and uplift rates, providing a means to distinguish among otherwise non-unique kinematic model solutions. Here, we investigate this relationship at two locations in North Canterbury, New Zealand: the Kate anticline and Haumuri Bluff, at the northern end of the Hawkswood anticline. At both locations, we calculate uplift rates of previously dated marine terraces, using DGPS surveys to estimate terrace inner edge elevations. We then use Markov chain Monte Carlo methods to fit fault-propagation fold kinematic models to structural geologic data, and we incorporate marine terrace uplift into the models as an additional constraint. At Haumuri Bluff, we find that marine terraces, when restored to originally horizontal surfaces, can help to eliminate certain trishear models that would fit the geologic data alone. At Kate anticline, we compare uplift rates at different structural positions and find that the spatial pattern of uplift rates is more consistent with trishear than with a parallel-fault propagation fold kink-band model. Finally, we use our model results to compute new estimates for fault slip rates ( 1-2 m/ka at Kate anticline and 1-4 m/ka at Haumuri Bluff) and ages of the folds ( 1 Ma), which are consistent with previous estimates for the onset of folding in this region. These results are consistent with previous work on the age of onset of folding in this region, provide revised estimates of fault slip rates necessary to understand the seismic hazard posed by these faults, and demonstrate the value of incorporating marine terraces in inverse fold kinematic models as a means to distinguish among non-unique solutions.

Accurate 3D kinematic measurement of temporomandibular joint using X-ray fluoroscopic images

NASA Astrophysics Data System (ADS)

Yamazaki, Takaharu; Matsumoto, Akiko; Sugamoto, Kazuomi; Matsumoto, Ken; Kakimoto, Naoya; Yura, Yoshiaki

2014-04-01

Accurate measurement and analysis of 3D kinematics of temporomandibular joint (TMJ) is very important for assisting clinical diagnosis and treatment of prosthodontics and orthodontics, and oral surgery. This study presents a new 3D kinematic measurement technique of the TMJ using X-ray fluoroscopic images, which can easily obtain the TMJ kinematic data in natural motion. In vivo kinematics of the TMJ (maxilla and mandibular bone) is determined using a feature-based 2D/3D registration, which uses beads silhouette on fluoroscopic images and 3D surface bone models with beads. The 3D surface models of maxilla and mandibular bone with beads were created from CT scans data of the subject using the mouthpiece with the seven strategically placed beads. In order to validate the accuracy of pose estimation for the maxilla and mandibular bone, computer simulation test was performed using five patterns of synthetic tantalum beads silhouette images. In the clinical applications, dynamic movement during jaw opening and closing was conducted, and the relative pose of the mandibular bone with respect to the maxilla bone was determined. The results of computer simulation test showed that the root mean square errors were sufficiently smaller than 1.0 mm and 1.0 degree. In the results of clinical application, during jaw opening from 0.0 to 36.8 degree of rotation, mandibular condyle exhibited 19.8 mm of anterior sliding relative to maxillary articular fossa, and these measurement values were clinically similar to the previous reports. Consequently, present technique was thought to be suitable for the 3D TMJ kinematic analysis.

A Vision-Based Self-Calibration Method for Robotic Visual Inspection Systems

PubMed Central

Yin, Shibin; Ren, Yongjie; Zhu, Jigui; Yang, Shourui; Ye, Shenghua

2013-01-01

A vision-based robot self-calibration method is proposed in this paper to evaluate the kinematic parameter errors of a robot using a visual sensor mounted on its end-effector. This approach could be performed in the industrial field without external, expensive apparatus or an elaborate setup. A robot Tool Center Point (TCP) is defined in the structural model of a line-structured laser sensor, and aligned to a reference point fixed in the robot workspace. A mathematical model is established to formulate the misalignment errors with kinematic parameter errors and TCP position errors. Based on the fixed point constraints, the kinematic parameter errors and TCP position errors are identified with an iterative algorithm. Compared to the conventional methods, this proposed method eliminates the need for a robot-based-frame and hand-to-eye calibrations, shortens the error propagation chain, and makes the calibration process more accurate and convenient. A validation experiment is performed on an ABB IRB2400 robot. An optimal configuration on the number and distribution of fixed points in the robot workspace is obtained based on the experimental results. Comparative experiments reveal that there is a significant improvement of the measuring accuracy of the robotic visual inspection system. PMID:24300597

Visual and skill effects on soccer passing performance, kinematics, and outcome estimations

PubMed Central

Basevitch, Itay; Tenenbaum, Gershon; Land, William M.; Ward, Paul

2015-01-01

The role of visual information and action representations in executing a motor task was examined from a mental representations approach. High-skill (n = 20) and low-skill (n = 20) soccer players performed a passing task to two targets at distances of 9.14 and 18.29 m, under three visual conditions: normal, occluded, and distorted vision (i.e., +4.0 corrective lenses, a visual acuity of approximately 6/75) without knowledge of results. Following each pass, participants estimated the relative horizontal distance from the target as the ball crossed the target plane. Kinematic data during each pass were also recorded for the shorter distance. Results revealed that performance on the motor task decreased as a function of visual information and task complexity (i.e., distance from target) regardless of skill level. High-skill players performed significantly better than low-skill players on both the actual passing and estimation tasks, at each target distance and visual condition. In addition, kinematic data indicated that high-skill participants were more consistent and had different kinematic movement patterns than low-skill participants. Findings contribute to the understanding of the underlying mechanisms required for successful performance in a self-paced, discrete and closed motor task. PMID:25784886

The influence of breast support on torso, pelvis and arm kinematics during a five kilometer treadmill run.

PubMed

Milligan, Alexandra; Mills, Chris; Corbett, Jo; Scurr, Joanna

2015-08-01

Many women wear sports bras due to positive benefits associated with these garments (i.e. reduction in breast movement and breast pain), however the effects these garments have on upper body running kinematics has not been investigated. Ten female participants (32 DD or 34 D) completed two five kilometer treadmill runs (9 km h(-1)), once in a low and once in a high breast support. The range of motion (ROM) and peak torso, pelvis, and upper arm Cardan joint angles were calculated over five gait cycles during a five kilometer run. Peak torso yaw, peak rotation of the pelvis, peak pelvis obliquity, ROM in rotation of the pelvis, and ROM in upper arm extension were significant, but marginally reduced when participants ran in the high breast support. The running kinematics reported in the high breast support condition more closely align with economical running kinematics previously defined in the literature, therefore, running in a high breast support may be more beneficial to female runners, with a high breast support advocated for middle distance runners. Copyright © 2015 Elsevier B.V. All rights reserved.

Design and fabrication of robotic gripper for grasping in minimizing contact force

NASA Astrophysics Data System (ADS)

Heidari, Hamidreza; Pouria, Milad Jafary; Sharifi, Shahriar; Karami, Mahmoudreza

2018-03-01

This paper presents a new method to improve the kinematics of robot gripper for grasping in unstructured environments, such as space operations. The robot gripper is inspired from the human hand and kept the hand design close to the structure of human fingers to provide successful grasping capabilities. The main goal is to improve kinematic structure of gripper to increase the grasping capability of large objects, decrease the contact forces and makes a successful grasp of various objects in unstructured environments. This research will describe the development of a self-adaptive and reconfigurable robotic hand for space operations through mechanical compliance which is versatile, robust and easy to control. Our model contains two fingers, two-link and three-link, with combining a kinematic model of thumb index. Moreover, some experimental tests are performed to examine the effectiveness of the hand-made in real, unstructured tasks. The results represent that the successful grasp range is improved about 30% and the contact forces is reduced approximately 10% for a wide range of target object size. According to the obtained results, the proposed approach provides an accommodative kinematic model which makes the better grasping capability by fingers geometries for a robot gripper.

Evidence for halo kinematics among cool carbon-rich dwarfs

NASA Astrophysics Data System (ADS)

Farihi, J.; Arendt, A. R.; Machado, H. S.; Whitehouse, L. J.

2018-07-01

This paper reports preliminary, yet compelling, kinematical inferences for N≳ 600 carbon-rich dwarf stars that demonstrate around 30-60 per cent are members of the Galactic halo. The study uses a spectroscopically and non-kinematically selected sample of stars from the SDSS, and cross-correlates these data with three proper motion catalogues based on Gaia DR1 astrometry to generate estimates of their 3D space velocities. The fraction of stars with halo-like kinematics is roughly 30 per cent for distances based on a limited number of parallax measurements, with the remainder dominated by the thick disc, but close to 60 per cent of the sample lies below an old, metal-poor disc isochrone in reduced proper motion. An ancient population is consistent with an extrinsic origin for C/O >1 in cool dwarfs, where a fixed mass of carbon pollution more readily surmounts lower oxygen abundance and with a lack of detectable ultraviolet-blue flux from younger white dwarf companions. For an initial stellar mass function that favours low-mass stars as in the Galactic disc, the dC stars are likely to be the dominant source of carbon-enhanced, metal-poor stars in the Galaxy.

Evidence for halo kinematics among cool carbon-rich dwarfs

NASA Astrophysics Data System (ADS)

Farihi, J.; Arendt, A. R.; Machado, H. S.; Whitehouse, L. J.

2018-04-01

This paper reports preliminary yet compelling kinematical inferences for N ≳ 600 carbon-rich dwarf stars that demonstrate around 30% to 60% are members of the Galactic halo. The study uses a spectroscopically and non-kinematically selected sample of stars from the SDSS, and cross-correlates these data with three proper motion catalogs based on Gaia DR1 astrometry to generate estimates of their 3-D space velocities. The fraction of stars with halo-like kinematics is roughly 30% for distances based on a limited number of parallax measurements, with the remainder dominated by the thick disk, but close to 60% of the sample lie below an old, metal-poor disk isochrone in reduced proper motion. An ancient population is consistent with an extrinsic origin for C/O >1 in cool dwarfs, where a fixed mass of carbon pollution more readily surmounts lower oxygen abundances, and with a lack of detectable ultraviolet-blue flux from younger white dwarf companions. For an initial stellar mass function that favors low-mass stars as in the Galactic disk, the dC stars are likely to be the dominant source of carbon-enhanced, metal-poor stars in the Galaxy.

Key features of hip hop dance motions affect evaluation by judges.

PubMed

Sato, Nahoko; Nunome, Hiroyuki; Ikegami, Yasuo

2014-06-01

The evaluation of hip hop dancers presently lacks clearly defined criteria and is often dependent on the subjective impressions of judges. Our study objective was to extract hidden motion characteristics that could potentially distinguish the skill levels of hip hop dancers and to examine the relationship between performance kinematics and judging scores. Eleven expert, six nonexpert, and nine novice dancers participated in the study, where each performed the "wave" motion as an experimental task. The movements of their upper extremities were captured by a motion capture system, and several kinematic parameters including the propagation velocity of the wave were calculated. Twelve judges evaluated the performances of the dancers, and we compared the kinematic parameters of the three groups and examined the relationship between the judging scores and the kinematic parameters. We found the coefficient of variation of the propagation velocity to be significantly different among the groups (P < .01) and highly correlated with the judging scores (r = -0.800, P < .01). This revealed that the variation of propagation velocity was the most dominant variable representing the skill level of the dancers and that the smooth propagation of the wave was most closely related to the evaluation by judges.

Gas Content and Kinematics in Clumpy, Turbulent Star-forming Disks

DOE Office of Scientific and Technical Information (OSTI.GOV)

White, Heidi A.; Abraham, Roberto G.; Fisher, David B.

2017-09-01

We present molecular gas-mass estimates for a sample of 13 local galaxies whose kinematic and star-forming properties closely resemble those observed in z ≈ 1.5 main-sequence galaxies. Plateau de Bure observations of the CO[1-0] emission line and Herschel Space Observatory observations of the dust emission both suggest molecular gas-mass fractions of ∼20%. Moreover, dust emission modeling finds T {sub dust} < 30 K, suggesting a cold dust distribution compared to their high infrared luminosity. The gas-mass estimates argue that z ∼ 0.1 DYNAMO galaxies not only share similar kinematic properties with high- z disks, but they are also similarly richmore » in molecular material. Pairing the gas-mass fractions with existing kinematics reveals a linear relationship between f {sub gas} and σ / v {sub c}, consistent with predictions from stability theory of a self-gravitating disk. It thus follows that high gas-velocity dispersions are a natural consequence of large gas fractions. We also find that the systems with the lowest t {sub dep} (∼0.5 Gyr) have the highest ratios of σ / v{sub c} and more pronounced clumps, even at the same high molecular gas fraction.« less

Mechanics and pathomechanics in the overhead athlete.

PubMed

Kibler, W Ben; Wilkes, Trevor; Sciascia, Aaron

2013-10-01

Optimal performance of the overhead throwing task requires precise mechanics that involve coordinated kinetic and kinematic chains to develop, transfer, and regulate the forces the body needs to withstand the inherent demands of the task and to allow optimal performance. These chains have been evaluated and the basic components, called nodes, have been identified. Impaired performance and/or injury, the DTS, is associated with alterations in the mechanics that are called pathomechanics. They can occur at multiple locations throughout the kinetic chain. They must be evaluated and treated as part of the overall problem. Observational analysis of the mechanics and pathomechanics using the node analysis method can be useful in highlighting areas of alteration that can be evaluated for anatomic injury or altered physiology. The comprehensive kinetic chain examination can evaluate sites of kinetic chain breakage, and a detailed shoulder examination can assess joint internal derangement of altered physiology that may contribute to the pathomechanics. Treatment of the DTS should be comprehensive, directed toward restoring physiology and mechanics and optimizing anatomy. This maximizes the body’s ability to develop normal mechanics to accomplish the overhead throwing task. Copyright © 2013 Elsevier Inc. All rights reserved.

Descriptive analysis of kinematics and kinetics of catchers throwing to second base from their knees.

PubMed

Plummer, Hillary A; Oliver, Gretchen D

2016-08-01

In order to decrease the amount of time that it takes the catcher to throw the ball, a catcher may chose to throw from the knees. Upper extremity kinematics may play a significant role in the kinetics about the elbow observed in catchers throwing from the knees. If relationships between kinematics and kinetics exist then the development of training and coaching instruction may help in reduced upper extremity injury risk. Twenty-two baseball and softball catchers (14.36±3.86years; 165.11±17.54cm; 65.67±20.60kg) volunteered. The catchers exhibited a less trunk rotation (5.6±16.2°), greater elbow flexion (87.9±21.4°) and decreased humeral elevation (71.1±12.3°) at the event of maximum shoulder external rotation as compared to what has previously reported in catchers. These variables are important, as they have previously been established as potential injury risk factors in pitchers, however it is not yet clear the role these variables play in catchers' risk of injury. A positive relationship between elbow varus torque during the deceleration phase and elbow flexion at MIR was observed (r=0.609; p=0.003). Throwing from the knees reduces a catcher's ability to utilize the proximal kinetic chain and this may help to explain why their kinematics and kinetics differ from what has previously been presented in the literature. Copyright © 2015 Elsevier Ltd. All rights reserved.

Analytical expression for the correlation function of a hard sphere chain fluid

NASA Astrophysics Data System (ADS)

Chang, Jaeeon; Kim, Hwayong

A closed form expression is given for the correlation function of flexible hard sphere chain fluid. A set of integral equations obtained from Wertheim's multidensity Ornstein-Zernike integral equation theory with the polymer Percus-Yevick ideal chain approximation is considered. Applying the Laplace transformation method to the integral equations and then solving the resulting equations algebraically, the Laplace transforms of individual correlation functions are obtained. By inverse Laplace transformation the inter- and intramolecular radial distribution functions (RDFs) are obtained in closed forms up to 3D(D is segment diameter). These analytical expressions for the RDFs would be useful in developing the perturbation theory of chain fluids.

Effects of push-off ability and handcycle type on handcycling performance in able-bodied participants.

PubMed

Kouwijzer, Ingrid; Nooijen, Carla F J; Breukelen, Kees van; Janssen, Thomas W J; de Groot, Sonja

2018-05-14

To assess the effects on handcycling performance and physiological responses, of: (i) making a closed chain by comparing handcycling in a recumbent bike with 2-feet footrest (closed chain) with handcycling with 1 footrest (partial closed chain) and without a footrest (no closed chain); (ii) equipment by comparing handcycling in a recumbent bike with a kneeling bike. Ten able-bodied participants performed submaximal exercise and sprint tests, once in a knee-ling bike and 3 times on a recumbent: 2-feet support, 1-foot support and without foot support. Physical strain (submaximal oxygen uptake and heart rate), peak (POpeak) and mean power output (POmean) were measured. Significantly higher POpeak and POmean were found with 2-feet support (mean 415 W (standard deviation (SD) 163) and mean 281 W (SD 96)) and higher POmean with 1-foot support (mean 279 W (SD 104)) compared with no foot support (mean 332 W (SD 127) and mean 254 W (SD 101)), p < 0.05. No differences were found for physical strain. In the kneeling bike, POpeak and POmean were significantly higher (mean 628 W (SD 231) and 391 W (SD 121)) than in the recumbent (mean 415 W (SD 163) and 281 W (SD 96)), p = 0.001. The ability to make a closed chain has a significant positive effect on handcycling sprint performance; therefore, this ability may be a discriminating factor. Sprint performance was significantly higher in kneeling compared with recumbent handcycling.

Neutral strange particle production in deep inelastic scattering at HERA

NASA Astrophysics Data System (ADS)

Derick, M.; Krakauer, D.; Magill, S.; Mikunas, D.; Musgrave, B.; Repond, J.; Stanek, R.; Talaga, R. L.; Zhang, H.; Ayad, R.; Bari, G.; Basile, M.; Bellagamba, L.; Boscherini, D.; Bruni, A.; Bruni, G.; Bruni, P.; Cara Romeo, G.; Castellini, G.; Chiarini, M.; Cifarelli, L.; Cindolo, F.; Contin, A.; Corradi, M.; Gialas, I.; Giusti, P.; Iacobucci, G.; Laurenti, G.; Levi, G.; Margotti, A.; Massam, T.; Nania, R.; Nemoz, C.; Palmonari, F.; Polini, A.; Sartorelli, G.; Timellini, R.; Zamora Garcia, Y.; Zichichi, A.; Bargende, A.; Crittenden, J.; Desch, K.; Diekmann, B.; Doeker, T.; Eckert, M.; Feld, L.; Frey, A.; Geerts, M.; Geitz, G.; Grothe, M.; Haas, T.; Hartmann, H.; Heinloth, K.; Hilger, E.; Jakob, H.-P.; Katz, U. F.; Mari, S. M.; Mass, A.; Mengel, S.; Mollen, J.; Paul, E.; Rembser, Ch.; Schramm, D.; Stamm, J.; Wedemeyer, R.; Campbell-Robson, S.; Cassidy, A.; Dyce, N.; Foster, B.; George, S.; Gilmore, R.; Heath, G. P.; Heath, H. F.; Llewellyn, T. J.; Morgado, C. J. S.; Norman, D. J. P.; O'Mara, J. A.; Tapper, R. J.; Wilson, S. S.; Yoshida, R.; Rau, R. R.; Arneodo, M.; Iannotti, L.; Schioppa, M.; Susinno, G.; Bernstein, A.; Caldwell, A.; Cartiglia, N.; Parsons, J. A.; Ritz, S.; Sciulli, F.; Straub, P. B.; Wai, L.; Yang, S.; Zhu, Q.; Borzemski, P.; Chwastowski, J.; Eskreys, A.; Piotrzkowski, K.; Zachara, M.; Zawiejski, L.; Adamezyk, L.; Bednarek, B.; Jeleń, K.; Kisielewska, D.; Kowalski, T.; Rulikowska-Zarębska, E.; Suszycki, L.; Zając, J.; Kotański, A.; Przybycień, M.; Bauerdick, L. A. T.; Behrens, U.; Beier, H.; Bienlein, J. K.; Coldewey, C.; Deppe, O.; Desler, K.; Drews, G.; Flasiński, M.; Gilkinson, D. J.; Glasman, C.; Göttlicher, P.; Große-Knetter, J.; Gutjahr, B.; Hain, W.; Hasell, D.; Heßling, H.; Iga, Y.; Joos, P.; Kasemann, M.; Klanner, R.; Koch, W.; Köpke, L.; Kötz, U.; Kowalski, H.; Labs, J.; Ladage, A.; Löhr, B.; Löwe, M.; Lüke, D.; Mainusch, J.; Mańczak, O.; Monteiro, T.; Ng, J. S. T.; Nickel, S.; Notz, D.; Ohrenberg, K.; Roco, M.; Rohde, M.; Roldán, J.; Schneekloth, U.; Schulz, W.; Selonke, F.; Stiliaris, E.; Surrow, B.; Voß, T.; Westphal, D.; Wolf, G.; Youngman, C.; Zhou, J. F.; Grabosch, H. J.; Kharchilava, A.; Leich, A.; Mattingly, M. C. K.; Meyer, A.; Schlenstedt, S.; Wulff, N.; Barbagli, G.; Pelfer, P.; Anzivino, G.; Maccarrone, G.; de Pasquale, S.; Votano, L.; Bamberger, A.; Eisenhardt, S.; Freidhof, A.; Söldner-Rembold, S.; Schroeder, J.; Trefzger, T.; Brook, N. H.; Bussey, P. J.; Doyle, A. T.; Fleck, J. I.; Saxon, D. H.; Utley, M. L.; Wilson, A. S.; Dannemann, A.; Holm, U.; Horstmann, D.; Neumann, T.; Sinkus, R.; Wick, K.; Badura, E.; Burow, B. D.; Hagge, L.; Lohrmann, E.; Milewski, J.; Nakahata, M.; Pavel, N.; Poelz, G.; Schott, W.; Zetsche, F.; Bacon, T. C.; Butterworth, I.; Gallo, E.; Harris, V. L.; Hung, B. Y. H.; Long, K. R.; Miller, D. B.; Morawitz, P. P. O.; Prinias, A.; Sedgbeer, J. K.; Whitfield, A. F.; Mallik, U.; McCliment, E.; Wang, M. Z.; Wang, S. M.; Wu, J. T.; Zhang, Y.; Cloth, P.; Filges, D.; An, S. H.; Hong, S. M.; Nam, S. W.; Park, S. K.; Suh, M. H.; Yon, S. H.; Imlay, R.; Kartik, S.; Kim, H.-J.; McNeil, R. R.; Metcalf, W.; Nadendla, V. K.; Barreiro, F.; Cases, G.; Fernandez, J. P.; Graciani, R.; Hernández, J. M.; Hervás, L.; Labarga, L.; Martinez, M.; Del Peso, J.; Puga, J.; Terron, J.; de Trocóniz, J. F.; Smith, G. R.; Corriveau, F.; Hanna, D. S.; Hartmann, J.; Hung, L. W.; Lim, J. N.; Matthews, C. G.; Patel, P. M.; Sinclair, L. E.; Stairs, D. G.; Laurent, M. St.; Ullmann, R.; Zacek, G.; Bashkirov, V.; Dolgoshein, B. A.; Stifutkin, A.; Bashindzhagyan, G. L.; Ermolov, P. F.; Gladilin, L. K.; Golubkov, Y. A.; Kobrin, V. D.; Kuzmin, V. A.; Proskuryakov, A. S.; Savin, A. A.; Shcheglova, L. M.; Solomin, A. N.; Zotov, N. P.; Botje, M.; Chlebana, F.; Dake, A.; Engelen, J.; de Kamps, M.; Kooijman, P.; Kruse, A.; Tiecke, H.; Verkerke, W.; Vreeswijk, M.; Wiggers, L.; de Wolf, E.; van Woudenberg, R.; Acosta, D.; Bylsma, B.; Durkin, L. S.; Honscheid, K.; Li, C.; Ling, T. Y.; McLean, K. W.; Murray, W. N.; Park, I. H.; Romanowski, T. A.; Seidlein, R.; Bailey, D. S.; Byrne, A.; Cashmore, R. J.; Cooper-Sarkar, A. M.; Devenish, R. C. E.; Harnew, N.; Lancaster, M.; Lindemann, L.; McFall, J. D.; Nath, C.; Noyes, V. A.; Quadt, A.; Tickner, J. R.; Uijterwaal, H.; Walczak, R.; Waters, D. S.; Wilson, F. F.; Yip, T.; Abbrendi, G.; Bertolin, A.; Brugnera, R.; Carlin, R.; Dal Corso, F.; de Giorgi, M.; Dosselli, U.; Limentani, S.; Morandin, M.; Posocco, M.; Stanco, L.; Stroili, R.; Voci, C.; Bulmahn, J.; Butterworth, J. M.; Feild, R. G.; Oh, B. Y.; Whitmore, J. J.; D'Agostini, G.; Marini, G.; Nigro, A.; Tassi, E.; Hart, J. C.; McCubbin, N. A.; Prytz, K.; Shah, T. P.; Short, T. L.; Barberis, E.; Dubbs, T.; Heusch, C.; van Hook, M.; Hubbard, B.; Lockman, W.; Rahn, J. T.; Sadrozinski, H. F.-W.; Seiden, A.; Biltzinger, J.; Seifert, R. J.; Schwarzer, O.; Walenta, A. H.; Zech, G.; Abramowicz, H.; Briskin, G.; Dagan, S.; Levy, A.; Hasegawa, T.; Hazumi, M.; Ishii, T.; Kuze, M.; Mine, S.; Nagasawa, Y.; Nakao, M.; Suzuki, I.; Tokushuku, K.; Yamada, S.; Yamazaki, Y.; Chiba, M.; Hamatsu, R.; Hirose, T.; Homma, K.; Kitamura, S.; Nakamitsu, Y.; Yamauchi, K.; Cirio, R.; Costa, M.; Ferrero, M. I.; Lamberti, L.; Maselli, S.; Peroni, C.; Sacchi, R.; Solano, A.; Staiano, A.; Dardo, M.; Bailey, D. C.; Bandyopadhyay, D.; Benard, F.; Brkic, M.; Crombie, M. B.; Gingrich, D. M.; Hartner, G. F.; Joo, K. K.; Leyman, G. M.; Martin, J. F.; Orr, R. S.; Sampson, C. R.; Teuscher, R. J.; Catterall, C. D.; Jones, T. W.; Kaziewicz, P. B.; Lane, J. B.; Saunders, R. L.; Shulman, J.; Blankenship, K.; Lu, B.; Mo, L. W.; Bogusz, W.; Charchula, K.; Ciborowski, J.; Gajewski, J.; Grzelak, G.; Kasprzak, M.; Krzyżanowski, M.; Muchorowski, K.; Nowak, R. J.; Pawlak, J. M.; Tymieniecka, T.; Wróblewski, A. K.; Zakrzewski, J. A.; Żarnecki, A. F.; Adamus, M.; Eisenberg, Y.; Karshon, U.; Revel, D.; Zer-Zion, D.; Ali, I.; Badgett, W. F.; Behrens, B.; Dasu, S.; Fordham, C.; Foudas, C.; Goussiou, A.; Loveless, R. J.; Reeder, D. D.; Silverstein, S.; Smith, W. H.; Vaiciulis, A.; Wodarczyk, M.; Tsurugai, T.; Bhadra, S.; Cardy, M. L.; Fagerstroem, C.-P.; Frisken, W. R.; Furutani, K. M.; Khakzad, M.; Schmidke, W. B.

1995-03-01

This paper presents measurements of K 0 and Λ production in neutral current, deep inelastic scattering of 26.7 GeV electrons and 820 GeV protons in the kinematic range 10< Q 2<640 GeV2, 0.0003< x<0.01, and y>0.04. Average multiplicities for K 0 and Λ production are determined for transverse momenta p T>0.5 GeV and pseudorapidities |η|<1.3. The multiplicities favour a stronger strange to light quark suppression in the fragmentation chain than found in e + e - experiments. The production properties of K 0' s in events with and without a large rapidity gap with respect to the proton direction are compared. The ratio of neutral K 0' s to charged particles per event in the measured kinematic range is, within the present statistics, the same in both samples.

Gait adaptation to visual kinematic perturbations using a real-time closed-loop brain-computer interface to a virtual reality avatar

NASA Astrophysics Data System (ADS)

Phat Luu, Trieu; He, Yongtian; Brown, Samuel; Nakagome, Sho; Contreras-Vidal, Jose L.

2016-06-01

Objective. The control of human bipedal locomotion is of great interest to the field of lower-body brain-computer interfaces (BCIs) for gait rehabilitation. While the feasibility of closed-loop BCI systems for the control of a lower body exoskeleton has been recently shown, multi-day closed-loop neural decoding of human gait in a BCI virtual reality (BCI-VR) environment has yet to be demonstrated. BCI-VR systems provide valuable alternatives for movement rehabilitation when wearable robots are not desirable due to medical conditions, cost, accessibility, usability, or patient preferences. Approach. In this study, we propose a real-time closed-loop BCI that decodes lower limb joint angles from scalp electroencephalography (EEG) during treadmill walking to control a walking avatar in a virtual environment. Fluctuations in the amplitude of slow cortical potentials of EEG in the delta band (0.1-3 Hz) were used for prediction; thus, the EEG features correspond to time-domain amplitude modulated potentials in the delta band. Virtual kinematic perturbations resulting in asymmetric walking gait patterns of the avatar were also introduced to investigate gait adaptation using the closed-loop BCI-VR system over a period of eight days. Main results. Our results demonstrate the feasibility of using a closed-loop BCI to learn to control a walking avatar under normal and altered visuomotor perturbations, which involved cortical adaptations. The average decoding accuracies (Pearson’s r values) in real-time BCI across all subjects increased from (Hip: 0.18 ± 0.31 Knee: 0.23 ± 0.33 Ankle: 0.14 ± 0.22) on Day 1 to (Hip: 0.40 ± 0.24 Knee: 0.55 ± 0.20 Ankle: 0.29 ± 0.22) on Day 8. Significance. These findings have implications for the development of a real-time closed-loop EEG-based BCI-VR system for gait rehabilitation after stroke and for understanding cortical plasticity induced by a closed-loop BCI-VR system.

ORIGIN AND KINEMATICS OF THE ERUPTIVE FLOW FROM XZ TAU REVEALED BY ALMA

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zapata, Luis A.; Galván-Madrid, Roberto; Carrasco-González, Carlos

2015-09-20

We present high angular resolution (∼0.″94) {sup 12}CO(1-0) Atacama Large Millimeter/submillimeter Array (ALMA) observations obtained during the 2014 long baseline campaign from the eruptive bipolar flow from the multiple XZ Tau stellar system discovered by the Hubble Space Telescope (HST). These observations reveal, for the first time, the kinematics of the molecular flow. The kinematics of the different ejections close to XZ Tau reveal a rotating and expanding structure with a southeast–northwest velocity gradient. The youngest eruptive bubbles unveiled in the optical HST images are inside of this molecular expanding structure. Additionally, we report a very compact and collimated bipolarmore » outflow emanating from XZ Tau A, which indicates that the eruptive outflow is indeed originating from this object. The mass (3 × 10{sup −7} M{sub ⊙}) and energetics (E{sub kin} = 3 × 10{sup 37} erg) for the collimated outflow are comparable to those found in molecular outflows associated with young brown dwarfs.« less

Synthesis of Ga 2O 3 chains with closely spaced knots connected by nanowires

NASA Astrophysics Data System (ADS)

Dai, L.; You, L. P.; Duan, X. F.; Lian, W. C.; Qin, G. G.

2004-07-01

Chains of closely spaced metal or semiconductor particles have potential applications in optoelectronics and single electron devices. We report, for the first time, the synthesis of Ga 2O 3 chains with closely spaced knots connected by nanowires using the thermal evaporation method with a specially designed quartz boat. The Ga 2O 3 chains grew only on the Si substrates where Au catalyst or Ga droplets were coated. The average diameter of the knots is about 450 nm and that of the nanowires is about 50 nm. The selected area electron diffraction of either a knot or a connecting nanowire includes two sets of overlapped single crystal electron diffraction patterns which belong to the [1 0 2] and [1 0 1¯] crystal zone axes of the monoclinic β-Ga 2O 3 phase, respectively. The knot and its neighbor nanowire have the common ( 2¯ 0 1) growth planes at their interface. A mechanism model for the Ga 2O 3 chains synthesis based on the vapor-liquid-solid mechanism is discussed.

Prey capture behavior and kinematics of the Atlantic cownose ray, Rhinoptera bonasus.

PubMed

Sasko, Desirée E; Dean, Mason N; Motta, Philip J; Hueter, Robert E

2006-01-01

The structurally reinforced jaws of the cownose ray, Rhinoptera bonasus testify to this species' durophagous diet of mollusks, but seem ill-suited to the behaviors necessary for excavating such prey. This study explores this discordance by investigating the prey excavation and capture kinematics of R. bonasus. Based on the basal suction feeding mechanism in this group of fishes, we hypothesized a hydraulic method of excavation. As expected, prey capture kinematics of R. bonasus show marked differences relative to other elasmobranchs, relating to prey excavation and use of the cephalic lobes (modified anterior pectoral fin extensions unique to derived myliobatiform rays). Prey are excavated by repeated opening and closing of the jaws to fluidize surrounding sand. The food item is then enclosed laterally by the depressed cephalic lobes, which transport it toward the mouth for ingestion by inertial suction. Unlike in most sharks, upper jaw protrusion and mandibular depression are simultaneous. During food capture, the ray's spiracle, mouth, and gill slit movements are timed such that water enters only the mouth (e.g., the spiracle closes prior to prey capture and reopens immediately following). Indigestible parts are then hydraulically winnowed from edible prey portions, by mouth movements similar to those used in excavation, and ejected through the mouth. The unique sensory/manipulatory capabilities of the cephalic lobes, as well as the cownose ray's hydraulic excavation/winnowing behaviors and suction feeding, make this species an effective benthic predator, despite its epibenthic lifestyle.

JPRS Report, Science & Technology, Japan

DTIC Science & Technology

1990-10-22

34 Particularly, details of the "Comparison with Other Countries" have been described in a series of this journal since the first edition. Also, the...transportation. Comparison of energy efficiency between different means of transportation was done by von Karman 2 but, for walking, he referred to living things...Federation Lecture Meeting, 1988, pp 333-334. 6. Kumar, V.R. and Waldron,. K.J,.. ""Force Distribution in Cl6sed’Kinematics Chains," IEEE J. ROBOTICS AND

INTERNAL STELLAR KINEMATICS OF M32 FROM THE SPLASH SURVEY: DARK HALO CONSTRAINTS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Howley, K. M.; Guhathakurta, P.; Van der Marel, R.

2013-03-01

As part of the SPLASH survey of the Andromeda (M31) system, we have obtained Keck/DEIMOS spectra of the compact elliptical (cE) satellite M32. This is the first resolved-star kinematical study of any cE galaxy. In contrast to most previous kinematical studies that extended out to r {approx}< 30'' {approx} 1 r {sup eff} {sub I} {approx} 100 pc, we measure the rotation curve and velocity dispersion profile out to r {approx} 250'' and higher order Gauss-Hermite moments out to r {approx} 70''. We achieve this by combining integrated-light spectroscopy at small radii (where crowding/blending are severe) with resolved stellar spectroscopymore » at larger radii, using spatial and kinematical information to account statistically for M31 contamination. The rotation curve and velocity dispersion profile extend well beyond the radius (r {approx} 150'') where the isophotes are distorted. Unlike NGC 205, another close dwarf companion of M31, M32's kinematics appear regular and symmetric and do not show obvious sharp gradients across the region of isophotal elongation and twists. We interpret M31's kinematics using three-integral axisymmetric dynamical equilibrium models constructed using Schwarzschild's orbit superposition technique. Models with a constant mass-to-light ratio can fit the data remarkably well. However, since such a model requires an increasing tangential anisotropy with radius, invoking the presence of an extended dark halo may be more plausible. Such an extended dark halo is definitely required to bind a half-dozen fast-moving stars observed at the largest radii, but these stars may not be an equilibrium component of M32.« less

Lagrangian approach to understanding the origin of the gill-kinematics switch in mayfly nymphs.

PubMed

Chabreyrie, R; Balaras, E; Abdelaziz, K; Kiger, K

2014-12-01

The mayfly nymph breathes under water through an oscillating array of plate-shaped tracheal gills. As the nymph grows, the kinematics of these gills change abruptly from rowing to flapping. The classical fluid dynamics approach to consider the mayfly nymph as a pumping device fails in giving clear reasons for this switch. In order to shed some light on this switch between the two distinct kinematics, we analyze the problem under a Lagrangian viewpoint. We consider that a good Lagrangian transport that effectively distributes and stirs water and dissolved oxygen between and around the gills is the main goal of the gill motion. Using this Lagrangian approach, we are able to provide possible reasons behind the observed switch from rowing to flapping. More precisely, we conduct a series of in silico mayfly nymph experiments, where body shape, as well as gill shapes, structures, and kinematics are matched to those from in vivo. In this paper, we show both qualitatively and quantitatively how the change of kinematics enables better attraction, confinement, and stirring of water charged of dissolved oxygen inside the gills area. We reveal the attracting barriers to transport, i.e., attracting Lagrangian coherent structures, that form the transport skeleton between and around the gills. In addition, we quantify how well the fluid particles are stirred inside the gills area, which by extension leads us to conclude that it will increase the proneness of molecules of dissolved oxygen to be close enough to the gills for extraction.

Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots.

PubMed

d'Elia, Nicolò; Vanetti, Federica; Cempini, Marco; Pasquini, Guido; Parri, Andrea; Rabuffetti, Marco; Ferrarin, Maurizio; Molino Lova, Raffaele; Vitiello, Nicola

2017-04-14

In human-centered robotics, exoskeletons are becoming relevant for addressing needs in the healthcare and industrial domains. Owing to their close interaction with the user, the safety and ergonomics of these systems are critical design features that require systematic evaluation methodologies. Proper transfer of mechanical power requires optimal tuning of the kinematic coupling between the robotic and anatomical joint rotation axes. We present the methods and results of an experimental evaluation of the physical interaction with an active pelvis orthosis (APO). This device was designed to effectively assist in hip flexion-extension during locomotion with a minimum impact on the physiological human kinematics, owing to a set of passive degrees of freedom for self-alignment of the human and robotic hip flexion-extension axes. Five healthy volunteers walked on a treadmill at different speeds without and with the APO under different levels of assistance. The user-APO physical interaction was evaluated in terms of: (i) the deviation of human lower-limb joint kinematics when wearing the APO with respect to the physiological behavior (i.e., without the APO); (ii) relative displacements between the APO orthotic shells and the corresponding body segments; and (iii) the discrepancy between the kinematics of the APO and the wearer's hip joints. The results show: (i) negligible interference of the APO in human kinematics under all the experimented conditions; (ii) small (i.e., < 1 cm) relative displacements between the APO cuffs and the corresponding body segments (called stability); and (iii) significant increment in the human-robot kinematics discrepancy at the hip flexion-extension joint associated with speed and assistance level increase. APO mechanics and actuation have negligible interference in human locomotion. Human kinematics was not affected by the APO under all tested conditions. In addition, under all tested conditions, there was no relevant relative displacement between the orthotic cuffs and the corresponding anatomical segments. Hence, the physical human-robot coupling is reliable. These facts prove that the adopted mechanical design of passive degrees of freedom allows an effective human-robot kinematic coupling. We believe that this analysis may be useful for the definition of evaluation metrics for the ergonomics assessment of wearable robots.

Comparison of geometrical shock dynamics and kinematic models for shock-wave propagation

NASA Astrophysics Data System (ADS)

Ridoux, J.; Lardjane, N.; Monasse, L.; Coulouvrat, F.

2018-03-01

Geometrical shock dynamics (GSD) is a simplified model for nonlinear shock-wave propagation, based on the decomposition of the shock front into elementary ray tubes. Assuming small changes in the ray tube area, and neglecting the effect of the post-shock flow, a simple relation linking the local curvature and velocity of the front, known as the A{-}M rule, is obtained. More recently, a new simplified model, referred to as the kinematic model, was proposed. This model is obtained by combining the three-dimensional Euler equations and the Rankine-Hugoniot relations at the front, which leads to an equation for the normal variation of the shock Mach number at the wave front. In the same way as GSD, the kinematic model is closed by neglecting the post-shock flow effects. Although each model's approach is different, we prove their structural equivalence: the kinematic model can be rewritten under the form of GSD with a specific A{-}M relation. Both models are then compared through a wide variety of examples including experimental data or Eulerian simulation results when available. Attention is drawn to the simple cases of compression ramps and diffraction over convex corners. The analysis is completed by the more complex cases of the diffraction over a cylinder, a sphere, a mound, and a trough.

Stolen Base Physics

ERIC Educational Resources Information Center

Kagan, David

2013-01-01

Few plays in baseball are as consistently close and exciting as the stolen base. While there are several studies of sprinting, the art of base stealing is much more nuanced. This article describes the motion of the base-stealing runner using a very basic kinematic model. The model will be compared to some data from a Major League game. The…

Kinematics and thermal conditions in the permafrost-affected rockwalls of the Aiguille du Midi (3842 m a.s.l., Mont Blanc massif, France)

NASA Astrophysics Data System (ADS)

Ravanel, Ludovic; Grangier, Germain; Weber, Samuel; Beutel, Jan; Magnin, Florence; Gruber, Stefan; Deline, Philip

2016-04-01

Processes that control climate-dependent rockfall from permafrost-affected rock slopes are still poorly understood. In this study, we present the results of a Wireless Sensor Network, integrated within the Swiss project PermaSense and developed in 2012, to measure rock temperature and geotechnical parameters in the steep rockwalls of the Aiguille du Midi (AdM, 3842 m a.s.l., Mont Blanc massif, France). Accessible year round by cable car, the AdM comprises two main peaks: (i) the Piton Nord with the cable car arrival station, where 4 crack-meters are placed on four major fractures, and (ii) the Piton Central with many touristic infrastructure, equipped with three 10-m-deep boreholes with 15 temperatures sensors since 2009, and where 2 crack-meters are installed along a major fracture. Three major kinematic regimes are observed: (i) opening of clefts when the rock temperature becomes positive, followed by closing during the cold period, (ii) summer opening continued by a winter opening, and (iii) closing during the warm period followed by opening in winter.

Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot.

PubMed

Greer, Joseph D; Morimoto, Tania K; Okamura, Allison M; Hawkes, Elliot W

2017-01-01

We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot's pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds.

Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot

PubMed Central

Greer, Joseph D.; Morimoto, Tania K.; Okamura, Allison M.; Hawkes, Elliot W.

2017-01-01

We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot’s pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds. PMID:29379672

Manipulator interactive design with interconnected flexible elements

NASA Technical Reports Server (NTRS)

Singh, R. P.; Likins, P. W.

1983-01-01

This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints, control, or relative motion with six degrees of freedom. The equations of motion for the chain configuration are derived via Kane's method, extended for application to interconnected flexible bodies with time-varying boundary conditions. A corresponding set of modal coordinates has been selected. The motion equations are imbedded within a simulation that transforms the vector-dyadic equations into scalar form for numerical integration. The simulation also includes a linear, time-invariant controler specified in transfer function format and a set of sensors and actuators that interface between the structure and controller. The simulation is driven by an interactive set-up program resulting in an easy-to-use analysis tool.

On-shell constrained M 2 variables with applications to mass measurements and topology disambiguation

NASA Astrophysics Data System (ADS)

Cho, Won Sang; Gainer, James S.; Kim, Doojin; Matchev, Konstantin T.; Moortgat, Filip; Pape, Luc; Park, Myeonghun

2014-08-01

We consider a class of on-shell constrained mass variables that are 3+1 dimensional generalizations of the Cambridge M T2 variable and that automatically incorporate various assumptions about the underlying event topology. The presence of additional on-shell constraints causes their kinematic distributions to exhibit sharper endpoints than the usual M T2 distribution. We study the mathematical properties of these new variables, e.g., the uniqueness of the solution selected by the minimization over the invisible particle 4-momenta. We then use this solution to reconstruct the masses of various particles along the decay chain. We propose several tests for validating the assumed event topology in missing energy events from new physics. The tests are able to determine: 1) whether the decays in the event are two-body or three-body, 2) if the decay is two-body, whether the intermediate resonances in the two decay chains are the same, and 3) the exact sequence in which the visible particles are emitted from each decay chain.

The Beta-Delayed Proton and Gamma Decay of 27P for Nuclear Astrophysics

NASA Astrophysics Data System (ADS)

McCleskey, E.; Banu, A.; McCleskey, M.; Roeder, B.; Saastamoinen, A.; Spiridon, A.; Trache, L.; Tribble, R. E.; Davinson, T.; Doherty, D.; Lotay, G. J.; Wallace, J.; Woods, P. J.

2013-10-01

The main creation site of 26Al is currently under debate. The reactions for its creation or destruction are also not completely known. When 26Al is created in novae, the reaction chain is: 24Mg(p,γ)25Al(β + v)25Mg(p,γ)26Al, but this chain can be by-passed by another chain: 25Al(p,γ)26Si(p,γ)27P and it can also be destroyed directly. Another way to by-pass it is through 26mAl(p,γ)27Si* which is dominated by resonant capture. Using the Momentum Achromat Recoil Spectrometer (MARS) at the Texas A&M Cyclotron Institute and inverse kinematics, this destruction reaction was studied by the beta-delayed proton and gamma decay of 27P. Due to selection rules, states populated above the proton threshold in the compound system (27Si*) can decay to 26mAl, which are the states of interest for the capture reaction. James Madison University, VA, USA.

Source inversion of the 1570 Ferrara earthquake and definitive diversion of the Po River (Italy)

NASA Astrophysics Data System (ADS)

Sirovich, L.; Pettenati, F.

2015-08-01

An 11-parameter, kinematic-function (KF) model was used to retrieve the approximate geometrical and kinematic characteristics of the fault source of the 1570 Mw 5.8 Ferrara earthquake in the Po Plain, including the double-couple orientation (strike angle 127 ± 16°, dip 28 ± 7°, and rake 77 ± 16°). These results are compatible with either the outermost thrust fronts of the northern Apennines, which are buried beneath the Po Plain's alluvial deposits, or the blind crustal-scale thrust. The 1570 event developed to the ENE of the two main shocks on 20 May 2012 (M 6.1) and 29 May 2012 (M 5.9). The three earthquakes had similar kinematics and are found 20-30 km from each other en echelon in the buried chain. Geomorphological and historical evidence exist which suggest the following: (i) the long-lasting uplift of the buried Apenninic front shifted the central part of the course of the Po River approximately 20 km northward in historical times and (ii) the 1570 earthquake marked the definitive diversion of the final part of the Po River away from Ferrara and the closure of the Po delta 40 km south of its present position.

Detecting kinematic boundary surfaces in phase space: particle mass measurements in SUSY-like events

DOE PAGES

Debnath, Dipsikha; Gainer, James S.; Kilic, Can; ...

2017-06-19

We critically examine the classic endpoint method for particle mass determination, focusing on difficult corners of parameter space, where some of the measurements are not independent, while others are adversely affected by the experimental resolution. In such scenarios, mass differences can be measured relatively well, but the overall mass scale remains poorly constrained. Using the example of the standard SUSY decay chain q ~→χ ~ 0 2→ℓ ~→χ ~ 0 1 , we demonstrate that sensitivity to the remaining mass scale parameter can be recovered by measuring the two-dimensional kinematical boundary in the relevant three-dimensional phase space of invariant massesmore » squared. We develop an algorithm for detecting this boundary, which uses the geometric properties of the Voronoi tessellation of the data, and in particular, the relative standard deviation (RSD) of the volumes of the neighbors for each Voronoi cell in the tessellation. We propose a new observable, Σ¯ , which is the average RSD per unit area, calculated over the hypothesized boundary. We show that the location of the Σ¯ maximum correlates very well with the true values of the new particle masses. Our approach represents the natural extension of the one-dimensional kinematic endpoint method to the relevant three dimensions of invariant mass phase space.« less

Kinematics, hydrodynamics and energetic advantages of burst-and-coast swimming of koi carps (Cyprinus carpio koi).

PubMed

Wu, Guanhao; Yang, Yan; Zeng, Lijiang

2007-06-01

Koi carps frequently swim in burst-and-coast style, which consists of a burst phase and a coast phase. We quantify the swimming kinematics and the flow patterns generated by the carps in burst-and-coast swimming. In the burst phase, the carps burst in two modes: in the first, the tail beats for at least one cycle (multiple tail-beat mode); in the second, the tail beats for only a half-cycle (half tail-beat mode). The carp generates a vortex ring in each half-cycle beat. The vortex rings generated during bursting in multiple tail-beat mode form a linked chain, but only one vortex ring is generated in half tail-beat mode. The wake morphologies, such as momentum angle and jet angle, also show much difference between the two modes. In the burst phase, the kinematic data and the impulse obtained from the wake are linked to obtain the drag coefficient (C(d,burst) approximately 0.242). In the coast phase, drag coefficient (C(d,coast) approximately 0.060) is estimated from swimming speed deceleration. Our estimation suggests that nearly 45% of energy is saved when burst-and-coast swimming is used by the koi carps compared with steady swimming at the same mean speed.

Detecting kinematic boundary surfaces in phase space: particle mass measurements in SUSY-like events

DOE Office of Scientific and Technical Information (OSTI.GOV)

Debnath, Dipsikha; Gainer, James S.; Kilic, Can

We critically examine the classic endpoint method for particle mass determination, focusing on difficult corners of parameter space, where some of the measurements are not independent, while others are adversely affected by the experimental resolution. In such scenarios, mass differences can be measured relatively well, but the overall mass scale remains poorly constrained. Using the example of the standard SUSY decay chain q ~→χ ~ 0 2→ℓ ~→χ ~ 0 1 , we demonstrate that sensitivity to the remaining mass scale parameter can be recovered by measuring the two-dimensional kinematical boundary in the relevant three-dimensional phase space of invariant massesmore » squared. We develop an algorithm for detecting this boundary, which uses the geometric properties of the Voronoi tessellation of the data, and in particular, the relative standard deviation (RSD) of the volumes of the neighbors for each Voronoi cell in the tessellation. We propose a new observable, Σ¯ , which is the average RSD per unit area, calculated over the hypothesized boundary. We show that the location of the Σ¯ maximum correlates very well with the true values of the new particle masses. Our approach represents the natural extension of the one-dimensional kinematic endpoint method to the relevant three dimensions of invariant mass phase space.« less

Detecting kinematic boundary surfaces in phase space: particle mass measurements in SUSY-like events

NASA Astrophysics Data System (ADS)

Debnath, Dipsikha; Gainer, James S.; Kilic, Can; Kim, Doojin; Matchev, Konstantin T.; Yang, Yuan-Pao

2017-06-01

We critically examine the classic endpoint method for particle mass determination, focusing on difficult corners of parameter space, where some of the measurements are not independent, while others are adversely affected by the experimental resolution. In such scenarios, mass differences can be measured relatively well, but the overall mass scale remains poorly constrained. Using the example of the standard SUSY decay chain \\tilde{q}\\to {\\tilde{χ}}_2^0\\to \\tilde{ℓ}\\to {\\tilde{χ}}_1^0 , we demonstrate that sensitivity to the remaining mass scale parameter can be recovered by measuring the two-dimensional kinematical boundary in the relevant three-dimensional phase space of invariant masses squared. We develop an algorithm for detecting this boundary, which uses the geometric properties of the Voronoi tessellation of the data, and in particular, the relative standard deviation (RSD) of the volumes of the neighbors for each Voronoi cell in the tessellation. We propose a new observable, \\overline{Σ} , which is the average RSD per unit area, calculated over the hypothesized boundary. We show that the location of the \\overline{Σ} maximum correlates very well with the true values of the new particle masses. Our approach represents the natural extension of the one-dimensional kinematic endpoint method to the relevant three dimensions of invariant mass phase space.

a Numerical Comparison of Langrange and Kane's Methods of AN Arm Segment

NASA Astrophysics Data System (ADS)

Rambely, Azmin Sham; Halim, Norhafiza Ab.; Ahmad, Rokiah Rozita

A 2-D model of a two-link kinematic chain is developed using two dynamics equations of motion, namely Kane's and Lagrange Methods. The dynamics equations are reduced to first order differential equation and solved using modified Euler and fourth order Runge Kutta to approximate the shoulder and elbow joint angles during a smash performance in badminton. Results showed that Runge-Kutta produced a better and exact approximation than that of modified Euler and both dynamic equations produced better absolute errors.

Use of Body Armor Protection Levels with Squad Automatic Weapon Fighting Load Impacts Soldier Performance, Mobility, and Postural Control

DTIC Science & Technology

2015-05-01

changes have been historically seen with the heavier approach march load between 21 kg and 33 kg (Schiffman et al., 2006, and Harman et al., 1999) or...the heaviest emergency approach march load greater than 32 kg (Attwells et al., 2006, and Harman et al., 1999). Increasing ballistic protection...vital to maintaining upright posture while walking ( Harman et al., 1999). Alterations made lower in the kinematic chain, such as the hip flexion

Setting Standards for Medically-Based Running Analysis

PubMed Central

Vincent, Heather K.; Herman, Daniel C.; Lear-Barnes, Leslie; Barnes, Robert; Chen, Cong; Greenberg, Scott; Vincent, Kevin R.

2015-01-01

Setting standards for medically based running analyses is necessary to ensure that runners receive a high-quality service from practitioners. Medical and training history, physical and functional tests, and motion analysis of running at self-selected and faster speeds are key features of a comprehensive analysis. Self-reported history and movement symmetry are critical factors that require follow-up therapy or long-term management. Pain or injury is typically the result of a functional deficit above or below the site along the kinematic chain. PMID:25014394

Mg II chromospheric-emission dating of HR 1614 moving-group stars

NASA Technical Reports Server (NTRS)

Hufnagel, Beth; Smith, Graeme H.

1994-01-01

A 2800 A Mg II line index I(Mg II) that is sensitive to chromospheric activity has been measured from International Ultraviolet Explorer spectra of a sample of eight HR 1614 moving-group dwarfs. All of these dwarfs have values of I(Mg II) indicative of ages greater than or equal to 3 Gyr. The relatively old ages of these dwarfs, together with their similar and peculiar kinematics and high metal abundance, is consistent with, although not conclusive proof of, coeval formation in close physical proximity to each other. The age, chemical abundance, and kinematics of the HR 1614 moving group -- with the notable exception of height above the Galactic plane -- are similar to the properties of the old open cluster NGC 6791.

Stochastic mechanics of reciprocal diffusions

NASA Astrophysics Data System (ADS)

Levy, Bernard C.; Krener, Arthur J.

1996-02-01

The dynamics and kinematics of reciprocal diffusions were examined in a previous paper [J. Math. Phys. 34, 1846 (1993)], where it was shown that reciprocal diffusions admit a chain of conservation laws, which close after the first two laws for two disjoint subclasses of reciprocal diffusions, the Markov and quantum diffusions. For the case of quantum diffusions, the conservation laws are equivalent to Schrödinger's equation. The Markov diffusions were employed by Schrödinger [Sitzungsber. Preuss. Akad. Wiss. Phys. Math Kl. 144 (1931); Ann. Inst. H. Poincaré 2, 269 (1932)], Nelson [Dynamical Theories of Brownian Motion (Princeton University, Princeton, NJ, 1967); Quantum Fluctuations (Princeton University, Princeton, NJ, 1985)], and other researchers to develop stochastic formulations of quantum mechanics, called stochastic mechanics. We propose here an alternative version of stochastic mechanics based on quantum diffusions. A procedure is presented for constructing the quantum diffusion associated to a given wave function. It is shown that quantum diffusions satisfy the uncertainty principle, and have a locality property, whereby given two dynamically uncoupled but statistically correlated particles, the marginal statistics of each particle depend only on the local fields to which the particle is subjected. However, like Wigner's joint probability distribution for the position and momentum of a particle, the finite joint probability densities of quantum diffusions may take negative values.

A general framework for the manual teleoperation of kinematically redundant space-based manipulators

NASA Astrophysics Data System (ADS)

Dupuis, Erick

This thesis provides a general framework for the manual teleoperation of kinematically redundant space-based manipulators. It is proposed to break down the task of controlling the motion of a redundant manipulator into a sequence of manageable sub-tasks of lower dimension by imposing constraints on the motion of intermediate bodies of the manipulator. This implies that the manipulator then becomes a non-redundant kinematic chain and the operator only controls a reduced number of degrees of freedom at any time. However, by appropriately changing the imposed constraints, the operator can use the full capability of the manipulator throughout the task. Also, by not restricting the point of teleoperation to the end effector but effectively allowing direct control of intermediate bodies of the robot, it is possible to teleoperate a redundant robot of arbitrary kinematic architecture over its entire configuration space in a predictable and natural fashion. It is rigourously proven that this approach will always work for any kinematically redundant serial manipulator regardless of its topology, geometry and of the number of its excess degrees-of-freedom. Furthermore, a methodology is provided for the selection of task and constraint coordinates to ensure the absence of algorithmic rank-deficiencies. Two novel algorithms are provided for the symbolic determination of the rank-deficiency locus of rectangular Jacobian matrices: the Singular Vector Algorithm and the Recursive Sub-Determinant Algorithm. These algorithms are complementary to each other: the former being more computationally efficient and the latter more robust. The application of the methodology to sample cases of varying complexity has demonstrated its power and limitations: It has been shown to be powerful enough to generate complete sets of task/constraint coordinate pairs for realistic examples such as the Space Station Remote Manipulator System and a simplified version of the Special Purpose Dexterous Manipulator.

Variations in medial-lateral hamstring force and force ratio influence tibiofemoral kinematics.

PubMed

Shalhoub, Sami; Fitzwater, Fallon G; Cyr, Adam J; Maletsky, Lorin P

2016-10-01

A change in hamstring strength and activation is typically seen after injuries or invasive surgeries such as anterior cruciate reconstruction or total knee replacement. While many studies have investigated the influence of isometric increases in hamstring load on knee joint kinematics, few have quantified the change in kinematics due to a variation in medial to lateral hamstring force ratio. This study examined the changes in knee joint kinematics on eight cadaveric knees during an open-chain deep knee bend for six different loading configurations: five loaded hamstring configurations that varied the ratio of a total load of 175 N between the semimembranosus and biceps femoris and one with no loads on the hamstring. The anterior-posterior translation of the medial and lateral femoral condyles' lowest points along proximal-distal axis of the tibia, the axial rotation of the tibia, and the quadriceps load were measured at each flexion angle. Unloading the hamstring shifted the medial and lateral lowest points posteriorly and increased tibial internal rotation. The influence of unloading hamstrings on quadriceps load was small in early flexion and increased with knee flexion. The loading configuration with the highest lateral hamstrings force resulted in the most posterior translation of the medial lowest point, most anterior translation of the lateral lowest point, and the highest tibial external rotation of the five loading configurations. As the medial hamstring force ratio increased, the medial lowest point shifted anteriorly, the lateral lowest point shifted posteriorly, and the tibia rotated more internally. The results of this study, demonstrate that variation in medial-lateral hamstrings force and force ratio influence tibiofemoral transverse kinematics and quadriceps loads required to extend the knee. © 2016 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 34:1707-1715, 2016. © 2016 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

Effects of tibial plateau angle and spacer thickness applied during in vitro canine total knee replacement on three-dimensional kinematics and collateral ligament strain.

PubMed

Baker, Katherine M; Foutz, Timothy L; Johnsen, Kyle J; Budsberg, Steven C

2014-09-01

To quantify the 3-D kinematics and collateral ligament strain of stifle joints in cadaveric canine limbs before and after cranial cruciate ligament transection followed by total knee replacement (TKR) involving various tibial plateau angles and spacer thicknesses. 6 hemi-pelvises collected from clinically normal nonchondrodystrophic dogs (weight range, 25 to 35 kg). Hemi-pelvises were mounted on a modified Oxford knee rig that allowed 6 degrees of freedom of the stifle joint but prevented mechanical movement of the hip and tarsal joints. Kinematics and collateral ligament strain were measured continuously while stifle joints were flexed. Data were again collected after cranial cruciate ligament transection and TKR with combinations of 3 plateau angles (0°, 4°, and 8°) and spacer thicknesses (5, 7, and 9 mm). Presurgical (ie, normal) stifle joint rotations were comparable to those previously documented for live dogs. After TKR, kinematics recorded for the 8°, 5-mm implant most closely resembled those of unaltered stifle joints. Decreasing the plateau angle and increasing spacer thickness altered stifle joint adduction, internal rotation, and medial translation. Medial collateral ligament strain was minimal in unaltered stifle joints and was unaffected by TKR. Lateral collateral ligament strain decreased with steeper plateau angles but returned to a presurgical level at the flattest plateau angle. Among the constructs tested, greatest normalization of canine stifle joint kinematics in vitro was achieved with the steepest plateau angle paired with the thinnest spacer. Furthermore, results indicated that strain to the collateral ligaments was not negatively affected by TKR.

The study of two barred galaxies with curious kinematical features

NASA Astrophysics Data System (ADS)

Saburova, A. S.; Katkov, I. Y.; Khoperskov, S. A.; Zasov, A. V.; Uklein, R. I.

2017-09-01

We performed long-slit spectral observations of two SB-type galaxies: NGC 5347 and UGC 1344. They were previously suspected as the galaxies with unusually low mass-to-light ratios (on the ground of mass estimates from the H I linewidths), which are in conflict with their observed colours. The observations were conducted at the Russian 6-m telescope. The aim of this study was to clarify the kinematics and structure, as well as the properties of stellar populations of the galaxies. The results of observations disproved the peculiarly low mass-to-light ratios of both galaxies. The most probable reasons of underestimation of their masses are discussed. We tried to reproduce the main observed features of kinematical profiles of the galaxies in the N-body simulations of barred galaxies. We found that both galaxies possess central components of different structures. Indeed, the age and velocity dispersion of stellar population in NGC 5347 are low in its innermost part in comparison to that of the bulge or a bar, which agrees with the presence of nuclear kinematically decoupled disc. It probably was formed due to the bar that supplied the inner region with gas. The kinematical profiles of the second galaxy UGC 1344 give evidence in favour of the central peanut-shaped bulge. In spite of the different luminosities of the two galaxies, they possess nearly equal (close to solar) central stellar abundance and the flattening of the stellar metallicity gradient in the bar regions. However, in the less luminous NGC 5347, the mean stellar age is younger than that in UGC 1344.

Chemical Compositions of Young Stars in the Leading Arm of the Magellanic System

NASA Astrophysics Data System (ADS)

Zhang, L.; Moni Bidin, C.; Casetti-Dinescu, D. I.; Mendez, R. A.; Girard, T. M.; Korchagin, V. I.; Vieira, K.; van Altena, W. F.; Zhao, G.

2017-07-01

Seven element abundances (He, C, N, O, Mg, Si, and S) and kinematics were determined for eight O-/B- type stars, based on high resolution spectra taken with the MIKE instrument on the Magellan 6.5m Clay telescope (program ID: CN2014A-057). The sample is selected from 42 candidates Casetti-Dinescu et al.(2014, ApJL, 784, L37) of membership in the Leading Arm (LA) of the Magellanic System. After investigating the relationship between abundances and kinematics parameters, we found that five stars have kinematics compatible with LA membership, i.e. RV>100kms-1. For the five possible LA member stars, Mg abundance is significantly lower than that of the remaining two that are kinematical members of the Galactic disk, and is more close to the LMC values. Distances to the LA members indicate that they are at the edge of the Galactic disk, while ages are of the order of ˜ 50-70 Myr, lower than the dynamical age of the LA, suggesting a single star-forming episode in the LA. VLSR of the LA members decreases with decreasing Magellanic longitude, confirming the results of previous LA gas studies (McClure-Griffiths et al.2008, ApJ, 673, L143). Our abundance and kinematic results for the LA member stars demonstrate that parts of the LA are hydrodynamically interacting with the gaseous Galactic disk, forming young stars that are chemically distinct from those in the Galactic disk. These results can provide constraints to future models for the Magellanic leading material.

Defining a Closed-Loop U.S. Aluminum Can Supply Chain Through Technical Design and Supply Chain Innovation

NASA Astrophysics Data System (ADS)

Buffington, Jack; Peterson, Ray

2013-08-01

The purpose of this study is to conduct a supply chain material flow analysis (MFA) for the U.S. aluminum can market, consistent with studies conducted for the overall worldwide aluminum industry. A technical definition of the use of alloys 5182 and 3104 is conducted by metallurgists for use in the "aluminum can" MFA. Four propositions are created: technical, economic, and supply chain factors are as important to secondary aluminum recycling in an aluminum can as higher recycling rates (P1); the development of a unialloy aluminum can will increase reuse rates, but recycling rates must increase for this to happen (P2); a closed-loop aluminum can supply chain is not able to be fully realized in today's environment but is very useful for understanding improvement through both supply and demand (P3); and UBC supply can improve through a "voluntary deposit-refund system" approach (P4).

Closed loop supply chain network design with fuzzy tactical decisions

NASA Astrophysics Data System (ADS)

Sherafati, Mahtab; Bashiri, Mahdi

2016-09-01

One of the most strategic and the most significant decisions in supply chain management is reconfiguration of the structure and design of the supply chain network. In this paper, a closed loop supply chain network design model is presented to select the best tactical and strategic decision levels simultaneously considering the appropriate transportation mode in activated links. The strategic decisions are made for a long term; thus, it is more satisfactory and more appropriate when the decision variables are considered uncertain and fuzzy, because it is more flexible and near to the real world. This paper is the first research which considers fuzzy decision variables in the supply chain network design model. Moreover, in this study a new fuzzy optimization approach is proposed to solve a supply chain network design problem with fuzzy tactical decision variables. Finally, the proposed approach and model are verified using several numerical examples. The comparison of the results with other existing approaches confirms efficiency of the proposed approach. Moreover the results confirms that by considering the vagueness of tactical decisions some properties of the supply chain network will be improved.

Geomorphology, kinematic history, and earthquake behavior of the active Kuwana wedge thrust anticline, central Japan

NASA Astrophysics Data System (ADS)

Ishiyama, Tatsuya; Mueller, Karl; Togo, Masami; Okada, Atsumasa; Takemura, Keiji

2004-12-01

We combine surface mapping of fault and fold scarps that deform late Quaternary alluvial strata with interpretation of a high-resolution seismic reflection profile to develop a kinematic model and determine fault slip rates for an active blind wedge thrust system that underlies Kuwana anticline in central Japan. Surface fold scarps on Kuwana anticline are closely correlated with narrow fold limbs and angular hinges on the seismic profile that suggest at least ˜1.3 km of fault slip completely consumed by folding in the upper 4 km of the crust. The close coincidence and kinematic link between folded terraces and the underlying thrust geometry indicate that Kuwana anticline has accommodated slip at an average rate of 2.2 ± 0.5 mm/yr on a 27°, west dipping thrust fault since early-middle Pleistocene time. In contrast to classical fault bend folds the fault slip budget in the stacked wedge thrusts also indicates that (1) the fault tip propagated upward at a low rate relative to the accrual of fault slip and (2) fault slip is partly absorbed by numerous bedding plane flexural-slip faults above the tips of wedge thrusts. An historic earthquake that occurred on the Kuwana blind thrust system possibly in A.D. 1586 is shown to have produced coseismic surface deformation above the doubly vergent wedge tip. Structural analyses of Kuwana anticline coupled with tectonic geomorphology at 103-105 years timescales illustrate the significance of active folds as indicators of slip on underlying blind thrust faults and thus their otherwise inaccessible seismic hazards.

Does high knee flexion cause separation of meniscal repairs?

PubMed

Lin, David L; Ruh, Sarah S; Jones, Hugh L; Karim, Azim; Noble, Philip C; McCulloch, Patrick C

2013-09-01

Previous clinical studies comparing nonrestrictive and restrictive protocols after meniscal repair have shown no difference in outcomes; however, some surgeons still limit range of motion out of concern that it will place undue stress on the repair. Large acute medial meniscal tears will gap during simulated open chain exercises at high flexion angles, and a repaired construct with vertical mattress sutures will not gap. Controlled laboratory study. Tantalum beads were implanted in the medial menisci of 6 fresh-frozen cadaveric knees via an open posteromedial approach. Each knee underwent 10 simulated open chain flexion cycles with loading of the quadriceps and hamstrings. Testing was performed on 3 different states of the meniscus: intact, torn, and repaired. Biplanar radiographs were taken of the loaded knee in 90°, 110°, and 135° of flexion for each state. A 2.5-cm tear was created in the posteromedial meniscus and repaired with inside-out vertical mattress sutures. Displacement of pairs of beads spanning the tear was measured in all planes by use of radiostereometric analysis (RSA) with an accuracy of better than 80 μm. With a longitudinal tear, compression rather than gapping occurred in all 3 regions of the posterior horn of the meniscus (mean ± standard deviation for medial collateral ligament [MCL], -321 ± 320 μm; midposterior, -487 ± 256 μm; root, -318 ± 150 μm) with knee flexion. After repair, meniscal displacement returned part way to intact values in both the MCL (+55 ± 250 μm) and root region (-170 ± 123 μm) but not the midposterior region, where further compression was seen (-661 ± 278 μm). Acute posteromedial meniscal tears and repairs with vertical mattress sutures do not gap, but rather compress in the transverse plane at higher flexion angles when subjected to physiologic loads consistent with active, open kinetic chain range of motion rehabilitation exercises. The kinematics of the repaired meniscus more closely resemble that of the intact meniscus than that of the torn meniscus in regions adjacent to the MCL and the root but not in the midposterior region, where meniscal repair led to increased compression across the tear plane. This study supports the idea that nonrestrictive unresisted open chain range of motion protocols do not place undue stress on meniscal repairs.

Network Level Association and Fusion of Kinematic and Attribute Information

DTIC Science & Technology

2010-12-15

L. Svensson, ``More Ways to Track Closely-Spaced Targets Than You Wanted To Know or Tips For Not Pissing Off the Radar Operator So Much That He Turns...To Know or Tips For Not Pissing Off the Radar Operator So Much That He Turns Off the Track Display”, Proc. ONR-GTRI Workshop on Tracking, Santa Barbara

Testing of FTS fingers and interface using a passive compliant robot manipulator. [flight telerobot servicer

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1992-01-01

This report deals with testing of a pair of robot fingers designed for the Flight Telerobotic Servicer (FTS) to grasp a cylinder type of Orbital Replaceable Unit (ORU) interface. The report first describes the objectives of the study and then the testbed consisting of a Stewart Platform-based manipulator equipped with a passive compliant platform which also serves as a force/torque sensor. Kinematic analysis is then performed to provide a closed-form solution for the force inverse kinematics and iterative solution for the force forward kinematics using the Newton's Raphson Method. Mathematical expressions are then derived to compute force/torques applied to the FTS fingers during the mating/demating with the interface. The report then presents the three parts of the experimental study on the feasibility and characteristics of the fingers. The first part obtains data of forces applied by the fingers to the interface under various misalignments, the second part determines the maximum allowable capture angles for mating, and the third part processes and interprets the obtained force/torque data.

MOCCA-SURVEY Database I: Is NGC 6535 a dark star cluster harbouring an IMBH?

NASA Astrophysics Data System (ADS)

Askar, Abbas; Bianchini, Paolo; de Vita, Ruggero; Giersz, Mirek; Hypki, Arkadiusz; Kamann, Sebastian

2017-01-01

We describe the dynamical evolution of a unique type of dark star cluster model in which the majority of the cluster mass at Hubble time is dominated by an intermediate-mass black hole (IMBH). We analysed results from about 2000 star cluster models (Survey Database I) simulated using the Monte Carlo code MOnte Carlo Cluster simulAtor and identified these dark star cluster models. Taking one of these models, we apply the method of simulating realistic `mock observations' by utilizing the Cluster simulatiOn Comparison with ObservAtions (COCOA) and Simulating Stellar Cluster Observation (SISCO) codes to obtain the photometric and kinematic observational properties of the dark star cluster model at 12 Gyr. We find that the perplexing Galactic globular cluster NGC 6535 closely matches the observational photometric and kinematic properties of the dark star cluster model presented in this paper. Based on our analysis and currently observed properties of NGC 6535, we suggest that this globular cluster could potentially harbour an IMBH. If it exists, the presence of this IMBH can be detected robustly with proposed kinematic observations of NGC 6535.

Along-strike variation in deformation style inferred from kinematic reconstruction and strain rate analysis: A case study of the Ethiopian Rift

NASA Astrophysics Data System (ADS)

Muluneh, Ameha A.; Cuffaro, Marco; Kidane, Tesfaye

2017-09-01

In this paper we combine kinematic reconstruction and seismic strain rate analysis to understand the along-strike variation in strain accommodation in the Ethiopian Rift (ER) evolution. The reconstruction poles close the southern and central ER at 19 and 15 Myr, respectively whereas there is 34 ± 14 km overlap in the northern ER at 11 Myr. Using Kostrov summation, seismic strain rates of 6.81 ×10-9 yr-1 and 0.06 × 10-9 yr-1 are obtained for the south-central and northern ER, respectively. Comparison of the seismic and geodetic strain rates shows that seismic deformation dominates the south and central ER contrary to the northern ER that deforms aseismically. The results obtained indicate that Nubia/Somalia plate reconstructions together with information on the onset of rifting overestimate the kinematics of the northern ER. We argue that magmatic processes play significant role in accommodating the ∼ 2 Myr opening of the rift. Our findings agree well with previous geophysical and geological studies in the Ethiopian Rift.

Muscle Activity Patterns Do Not Differ Between Push-Up and Bench Press Exercises.

PubMed

Gottschall, Jinger S; Hastings, Bryce; Becker, Zachary

2018-05-29

Popular topics for upper body resistance training involve the differences between hand positions, open versus closed chain exercises, and movement variations for the novice to the advanced. We hypothesized that there will be no difference between closed (push-up) versus open (bench press) chain exercises for the primary muscle group activity nor would there be a difference between push-ups on the toes versus knees with respect to the percent contribution of each muscle. We measured surface muscle activity of 8 upper body and core muscles during a sequence of push-up and bench press variations with a normalized weight for twelve active men. Each participant completed push-ups and bench press exercises at each of three hand positions. Our results demonstrated that there were few differences between closed versus open chain exercises for the primary muscle groups with the exception of core activation. To add, in general, narrow hand positions yielded greater activation and there were no significant differences between push-ups on the toes versus knees with respect to the percent contribution for the primary muscle groups. To sum, closed chain exercises may be preferred for functional training and knee push-ups may be ideal as a novice push-up variation.

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

NASA Technical Reports Server (NTRS)

Collins, Curtis L.; Robinson, Matthew L.

2013-01-01

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

Local sensory control of a dexterous end effector

NASA Technical Reports Server (NTRS)

Pinto, Victor H.; Everett, Louis J.; Driels, Morris

1990-01-01

A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.

Gait adaptation to visual kinematic perturbations using a real-time closed-loop brain computer interface to a virtual reality avatar

PubMed Central

Luu, Trieu Phat; He, Yongtian; Brown, Samuel; Nakagame, Sho; Contreras-Vidal, Jose L.

2017-01-01

Objective The control of human bipedal locomotion is of great interest to the field of lower-body brain computer interfaces (BCIs) for gait rehabilitation. While the feasibility of closed-loop BCI systems for the control of a lower body exoskeleton has been recently shown, multi-day closed-loop neural decoding of human gait in a BCI virtual reality (BCI-VR) environment has yet to be demonstrated. BCI-VR systems provide valuable alternatives for movement rehabilitation when wearable robots are not desirable due to medical conditions, cost, accessibility, usability, or patient preferences. Approach In this study, we propose a real-time closed-loop BCI that decodes lower limb joint angles from scalp electroencephalography (EEG) during treadmill walking to control a walking avatar in a virtual environment. Fluctuations in the amplitude of slow cortical potentials of EEG in the delta band (0.1 – 3 Hz) were used for prediction; thus, the EEG features correspond to time-domain amplitude modulated (AM) potentials in the delta band. Virtual kinematic perturbations resulting in asymmetric walking gait patterns of the avatar were also introduced to investigate gait adaptation using the closed-loop BCI-VR system over a period of eight days. Main results Our results demonstrate the feasibility of using a closed-loop BCI to learn to control a walking avatar under normal and altered visuomotor perturbations, which involved cortical adaptations. The average decoding accuracies (Pearson’s r values) in real-time BCI across all subjects increased from (Hip: 0.18 ± 0.31; Knee: 0.23 ± 0.33; Ankle: 0.14 ± 0.22) on Day 1 to (Hip: 0.40 ± 0.24; Knee: 0.55 ± 0.20; Ankle: 0.29 ± 0.22) on Day 8. Significance These findings have implications for the development of a real-time closed-loop EEG-based BCI-VR system for gait rehabilitation after stroke and for understanding cortical plasticity induced by a closed-loop BCI-VR system. PMID:27064824

Gait adaptation to visual kinematic perturbations using a real-time closed-loop brain-computer interface to a virtual reality avatar.

PubMed

Luu, Trieu Phat; He, Yongtian; Brown, Samuel; Nakagame, Sho; Contreras-Vidal, Jose L

2016-06-01

The control of human bipedal locomotion is of great interest to the field of lower-body brain-computer interfaces (BCIs) for gait rehabilitation. While the feasibility of closed-loop BCI systems for the control of a lower body exoskeleton has been recently shown, multi-day closed-loop neural decoding of human gait in a BCI virtual reality (BCI-VR) environment has yet to be demonstrated. BCI-VR systems provide valuable alternatives for movement rehabilitation when wearable robots are not desirable due to medical conditions, cost, accessibility, usability, or patient preferences. In this study, we propose a real-time closed-loop BCI that decodes lower limb joint angles from scalp electroencephalography (EEG) during treadmill walking to control a walking avatar in a virtual environment. Fluctuations in the amplitude of slow cortical potentials of EEG in the delta band (0.1-3 Hz) were used for prediction; thus, the EEG features correspond to time-domain amplitude modulated potentials in the delta band. Virtual kinematic perturbations resulting in asymmetric walking gait patterns of the avatar were also introduced to investigate gait adaptation using the closed-loop BCI-VR system over a period of eight days. Our results demonstrate the feasibility of using a closed-loop BCI to learn to control a walking avatar under normal and altered visuomotor perturbations, which involved cortical adaptations. The average decoding accuracies (Pearson's r values) in real-time BCI across all subjects increased from (Hip: 0.18 ± 0.31; Knee: 0.23 ± 0.33; Ankle: 0.14 ± 0.22) on Day 1 to (Hip: 0.40 ± 0.24; Knee: 0.55 ± 0.20; Ankle: 0.29 ± 0.22) on Day 8. These findings have implications for the development of a real-time closed-loop EEG-based BCI-VR system for gait rehabilitation after stroke and for understanding cortical plasticity induced by a closed-loop BCI-VR system.

Kinematic evolution of the Mbakop Pan-African granitoids (western Cameroon domain): An integrated AMS and EBSD approach

NASA Astrophysics Data System (ADS)

Bella Nké, B. E.; Njanko, T.; Mamtani, M. A.; Njonfang, E.; Rochette, P.

2018-06-01

This study integrates anisotropy of magnetic susceptibility, microstructural and crystallographic preferred orientation (CPO) data from the Mbakop granitic pluton (MGP; Pan-African age) in order to decipher its kinematic evolution. The MGP lies close to NE-SW branch of Central Cameroon Shear Zone (CCSZ) and is emplaced in gneissic basement. High mean magnetic susceptibility and presence of multi-domain magnetite are recorded. Quartz CPO measured using Electron Backscatter diffraction reveals dominance of rhomb , prism and prism slip in different samples, which is consistent with microstructures developed under upper greenschist/amphibolite facies conditions. Quartz CPO along with other kinematic indicators (feldspar porphyroclasts/mineral fish) indicate non-coaxial deformation was important during tectonic evolution of the MGP. Contrasting sense of shear is recorded implying multi-stage mylonitization in the Western Cameroon Domain. Top-towards-south sense of shear is related to regional D2 deformation (613-585 Ma), while top-towards-north is related to D3 (585-540 Ma). The magnetic fabric in MGP records D3. The obliquity between mean orientation of magnetic foliation (N12°E) and the NE-SW CCSZ branch (N48°E) gives kinematic vorticity number of 0.95. This indicates dominantly simple shear with a minor pure shear component. It is concluded that regional transpression was important during MGP emplacement.

Geometry and Kinematics of Fault-Propagation Folds with Variable Interlimb Angles

NASA Astrophysics Data System (ADS)

Dhont, D.; Jabbour, M.; Hervouet, Y.; Deroin, J.

2009-12-01

Fault-propagation folds are common features in foreland basins and fold-and-thrust belts. Several conceptual models have been proposed to account for their geometry and kinematics. It is generally accepted that the shape of fault-propagation folds depends directly from both the amount of displacement along the basal decollement level and the dip angle of the ramp. Among these, the variable interlimb angle model proposed by Mitra (1990) is based on a folding kinematics that is able to explain open and close natural folds. However, the application of this model is limited because the geometric evolution and thickness variation of the fold directly depend on imposed parameters such as the maximal value of the ramp height. Here, we use the ramp and the interlimb angles as input data to develop a forward fold modelling accounting for thickness variations in the forelimb. The relationship between the fold amplitude and fold wavelength are subsequently applied to build balanced geologic cross-sections from surface parameters only, and to propose a kinematic restoration of the folding through time. We considered three natural examples to validate the variable interlimb angle model. Observed thickness variations in the forelimb of the Turner Valley anticline in the Alberta foothills of Canada precisely correspond to the theoretical values proposed by our model. Deep reconstruction of the Alima anticline in the southern Tunisian Atlas implies that the decollement level is localized in the Triassic-Liassic series, as highlighted by seismic imaging. Our kinematic reconstruction of the Ucero anticline in the Spanish Castilian mountains is also in agreement with the anticline geometry derived from two cross-sections. The variable interlimb angle model implies that the fault-propagation fold can be symmetric, normal asymmetric (with a greater dip value in the forelimb than in the backlimb), or reversely asymmetric (with greater dip in the backlimb) depending on the shortening amount. This model allows also: (i) to easily explain folds with wide variety of geometries; (ii) to understand the deep architecture of anticlines; and (iii) to deduce the kinematic evolution of folding with time. Mitra, S., 1990, Fault-propagation folds: geometry, kinematic evolution, and hydrocarbon traps. AAPG Bulletin, v. 74, no. 6, p. 921-945.

Recycling Pricing and Coordination of WEEE Dual-Channel Closed-Loop Supply Chain Considering Consumers' Bargaining.

PubMed

Zhu, Xiaodong; Wang, Jing; Tang, Juan

2017-12-15

Environmentally friendly handling and efficient recycling of waste electrical on Waste Electrical and Electronic Equipment (WEEE) have grown to be a global social problem. As holders of WEEE, consumers have a significant effect on the recycling process. A consideration of and attention to the influence of consumer behavior in the recycling process can help achieve more effective recycling of WEEE. In this paper, we built a dual-channel closed-loop supply chain model composed of manufacturers, retailers, and network recycling platforms. Based on the influence of customer bargaining behavior, we studied several different scenarios of centralized decision-making, decentralized decision-making, and contract coordination, using the Stackelberg game theory. The results show that retailers and network recycling platforms will reduce the direct recovery prices to maintain their own profit when considering the impact of consumer bargaining behavior, while remanufacturers will improve the transfer payment price for surrendering part of the profit under revenue and the expense sharing contract. Using this contract, we can achieve supply chain coordination and eliminate the effect of consumer bargaining behavior on supply chain performance. It can be viewed from the parameter sensitivity analysis that when we select the appropriate sharing coefficient, the closed-loop supply chain can achieve the same system performance under a centralized decision.

Recycling Pricing and Coordination of WEEE Dual-Channel Closed-Loop Supply Chain Considering Consumers’ Bargaining

PubMed Central

Zhu, Xiaodong; Wang, Jing; Tang, Juan

2017-01-01

Environmentally friendly handling and efficient recycling of waste electrical on Waste Electrical and Electronic Equipment (WEEE) have grown to be a global social problem. As holders of WEEE, consumers have a significant effect on the recycling process. A consideration of and attention to the influence of consumer behavior in the recycling process can help achieve more effective recycling of WEEE. In this paper, we built a dual-channel closed-loop supply chain model composed of manufacturers, retailers, and network recycling platforms. Based on the influence of customer bargaining behavior, we studied several different scenarios of centralized decision-making, decentralized decision-making, and contract coordination, using the Stackelberg game theory. The results show that retailers and network recycling platforms will reduce the direct recovery prices to maintain their own profit when considering the impact of consumer bargaining behavior, while remanufacturers will improve the transfer payment price for surrendering part of the profit under revenue and the expense sharing contract. Using this contract, we can achieve supply chain coordination and eliminate the effect of consumer bargaining behavior on supply chain performance. It can be viewed from the parameter sensitivity analysis that when we select the appropriate sharing coefficient, the closed-loop supply chain can achieve the same system performance under a centralized decision. PMID:29244778

Differential Kinematics Of Contemporary Industrial Robots

NASA Astrophysics Data System (ADS)

Szkodny, T.

2014-08-01

The paper presents a simple method of avoiding singular configurations of contemporary industrial robot manipulators of such renowned companies as ABB, Fanuc, Mitsubishi, Adept, Kawasaki, COMAU and KUKA. To determine the singular configurations of these manipulators a global form of description of the end-effector kinematics was prepared, relative to the other links. On the basis of this description , the formula for the Jacobian was defined in the end-effector coordinates. Next, a closed form of the determinant of the Jacobian was derived. From the formula, singular configurations, where the determinant's value equals zero, were determined. Additionally, geometric interpretations of these configurations were given and they were illustrated. For the exemplary manipulator, small corrections of joint variables preventing the reduction of the Jacobian order were suggested. An analysis of positional errors, caused by these corrections, was presented

Multilateral Telecoordinated Control of Multiple Robots With Uncertain Kinematics.

PubMed

Zhai, Di-Hua; Xia, Yuanqing

2017-06-06

This paper addresses the telecoordinated control of multiple robots in the simultaneous presence of asymmetric time-varying delays, nonpassive external forces, and uncertain kinematics/dynamics. To achieve the control objective, a neuroadaptive controller with utilizing prescribed performance control and switching control technique is developed, where the basic idea is to employ the concept of motion synchronization in each pair of master-slave robots and among all slave robots. By using the multiple Lyapunov-Krasovskii functionals method, the state-independent input-to-output practical stability of the closed-loop system is established. Compared with the previous approaches, the new design is straightforward and easier to implement and is applicable to a wider area. Simulation results on three pairs of three degrees-of-freedom robots confirm the theoretical findings.

Evolutionary novelty versus exaptation: oral kinematics in feeding versus climbing in the waterfall-climbing Hawaiian Goby Sicyopterus stimpsoni.

PubMed

Cullen, Joshua A; Maie, Takashi; Schoenfuss, Heiko L; Blob, Richard W

2013-01-01

Species exposed to extreme environments often exhibit distinctive traits that help meet the demands of such habitats. Such traits could evolve independently, but under intense selective pressures of extreme environments some existing structures or behaviors might be coopted to meet specialized demands, evolving via the process of exaptation. We evaluated the potential for exaptation to have operated in the evolution of novel behaviors of the waterfall-climbing gobiid fish genus Sicyopterus. These fish use an "inching" behavior to climb waterfalls, in which an oral sucker is cyclically protruded and attached to the climbing surface. They also exhibit a distinctive feeding behavior, in which the premaxilla is cyclically protruded to scrape diatoms from the substrate. Given the similarity of these patterns, we hypothesized that one might have been coopted from the other. To evaluate this, we filmed climbing and feeding in Sicyopterus stimpsoni from Hawai'i, and measured oral kinematics for two comparisons. First, we compared feeding kinematics of S. stimpsoni with those for two suction feeding gobiids (Awaous guamensis and Lentipes concolor), assessing what novel jaw movements were required for algal grazing. Second, we quantified the similarity of oral kinematics between feeding and climbing in S. stimpsoni, evaluating the potential for either to represent an exaptation from the other. Premaxillary movements showed the greatest differences between scraping and suction feeding taxa. Between feeding and climbing, overall profiles of oral kinematics matched closely for most variables in S. stimpsoni, with only a few showing significant differences in maximum values. Although current data cannot resolve whether oral movements for climbing were coopted from feeding, or feeding movements coopted from climbing, similarities between feeding and climbing kinematics in S. stimpsoni are consistent with evidence of exaptation, with modifications, between these behaviors. Such comparisons can provide insight into the evolutionary mechanisms facilitating exploitation of extreme habitats.

Evolutionary Novelty versus Exaptation: Oral Kinematics in Feeding versus Climbing in the Waterfall-Climbing Hawaiian Goby Sicyopterus stimpsoni

PubMed Central

Cullen, Joshua A.; Maie, Takashi; Schoenfuss, Heiko L.; Blob, Richard W.

2013-01-01

Species exposed to extreme environments often exhibit distinctive traits that help meet the demands of such habitats. Such traits could evolve independently, but under intense selective pressures of extreme environments some existing structures or behaviors might be coopted to meet specialized demands, evolving via the process of exaptation. We evaluated the potential for exaptation to have operated in the evolution of novel behaviors of the waterfall-climbing gobiid fish genus Sicyopterus. These fish use an “inching” behavior to climb waterfalls, in which an oral sucker is cyclically protruded and attached to the climbing surface. They also exhibit a distinctive feeding behavior, in which the premaxilla is cyclically protruded to scrape diatoms from the substrate. Given the similarity of these patterns, we hypothesized that one might have been coopted from the other. To evaluate this, we filmed climbing and feeding in Sicyopterus stimpsoni from Hawai’i, and measured oral kinematics for two comparisons. First, we compared feeding kinematics of S. stimpsoni with those for two suction feeding gobiids (Awaous guamensis and Lentipes concolor), assessing what novel jaw movements were required for algal grazing. Second, we quantified the similarity of oral kinematics between feeding and climbing in S. stimpsoni, evaluating the potential for either to represent an exaptation from the other. Premaxillary movements showed the greatest differences between scraping and suction feeding taxa. Between feeding and climbing, overall profiles of oral kinematics matched closely for most variables in S. stimpsoni, with only a few showing significant differences in maximum values. Although current data cannot resolve whether oral movements for climbing were coopted from feeding, or feeding movements coopted from climbing, similarities between feeding and climbing kinematics in S. stimpsoni are consistent with evidence of exaptation, with modifications, between these behaviors. Such comparisons can provide insight into the evolutionary mechanisms facilitating exploitation of extreme habitats. PMID:23308184

Kinematic and Dynamic Source Rupture Scenario for Potential Megathrust Event along the Southernmost Ryukyu Trench

NASA Astrophysics Data System (ADS)

Lin, T. C.; Hu, F.; Chen, X.; Lee, S. J.; Hung, S. H.

2017-12-01

Kinematic source model is widely used for the simulation of an earthquake, because of its simplicity and ease of application. On the other hand, dynamic source model is a more complex but important tool that can help us to understand the physics of earthquake initiation, propagation, and healing. In this study, we focus on the southernmost Ryukyu Trench which is extremely close to northern Taiwan. Interseismic GPS data in northeast Taiwan shows a pattern of strain accumulation, which suggests the maximum magnitude of a potential future earthquake in this area is probably about magnitude 8.7. We develop dynamic rupture models for the hazard estimation of the potential megathrust event based on the kinematic rupture scenarios which are inverted using the interseismic GPS data. Besides, several kinematic source rupture scenarios with different characterized slip patterns are also considered to constrain the dynamic rupture process better. The initial stresses and friction properties are tested using the trial-and-error method, together with the plate coupling and tectonic features. An analysis of the dynamic stress field associated with the slip prescribed in the kinematic models can indicate possible inconsistencies with physics of faulting. Furthermore, the dynamic and kinematic rupture models are considered to simulate the ground shaking from based on 3-D spectral-element method. We analyze ShakeMap and ShakeMovie from the simulation results to evaluate the influence over the island between different source models. A dispersive tsunami-propagation simulation is also carried out to evaluate the maximum tsunami wave height along the coastal areas of Taiwan due to coseismic seafloor deformation of different source models. The results of this numerical simulation study can provide a physically-based information of megathrust earthquake scenario for the emergency response agency to take the appropriate action before the really big one happens.

AOM optimization with ultra stable high power CO2 lasers for fast laser engraving

NASA Astrophysics Data System (ADS)

Bohrer, Markus

2015-05-01

A new ultra stable CO2 laser in carbon fibre resonator technology with an average power of more than 600W has been developed especially as basis for the use with AOMs. Stability of linear polarisation and beam pointing stability are important issues as well as appropriate shaping of the incident beam. AOMs are tested close to the laser-induced damage threshold with pulses on demand close to one megahertz. Transversal and rotational optimization of the AOMs benefits from the parallel-kinematic principle of a hexapod used for this research.

Momentum distribution of nucleons in the deuteron on the basis of the Moscow potential

DOE Office of Scientific and Technical Information (OSTI.GOV)

Neudatchin, V. G.; Khokhlov, N. A.

Themomentum distribution of nucleons in the deuteron is calculated for the Moscow and Paris nucleon-nucleon potentials. It is shown that the Moscow potential provides a better description of the distribution deduced from data on the reaction d(e, e Prime p)n in the region close to the kinematical region of quasielastic proton knockout.

Distinct eye movement patterns enhance dynamic visual acuity.

PubMed

Palidis, Dimitrios J; Wyder-Hodge, Pearson A; Fooken, Jolande; Spering, Miriam

2017-01-01

Dynamic visual acuity (DVA) is the ability to resolve fine spatial detail in dynamic objects during head fixation, or in static objects during head or body rotation. This ability is important for many activities such as ball sports, and a close relation has been shown between DVA and sports expertise. DVA tasks involve eye movements, yet, it is unclear which aspects of eye movements contribute to successful performance. Here we examined the relation between DVA and the kinematics of smooth pursuit and saccadic eye movements in a cohort of 23 varsity baseball players. In a computerized dynamic-object DVA test, observers reported the location of the gap in a small Landolt-C ring moving at various speeds while eye movements were recorded. Smooth pursuit kinematics-eye latency, acceleration, velocity gain, position error-and the direction and amplitude of saccadic eye movements were linked to perceptual performance. Results reveal that distinct eye movement patterns-minimizing eye position error, tracking smoothly, and inhibiting reverse saccades-were related to dynamic visual acuity. The close link between eye movement quality and DVA performance has important implications for the development of perceptual training programs to improve DVA.

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

NASA Technical Reports Server (NTRS)

Williams, Robert L., III

1992-01-01

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Edge-driven microplate kinematics

USGS Publications Warehouse

Schouten, Hans; Klitgord, Kim D.; Gallo, David G.

1993-01-01

It is known from plate tectonic reconstructions that oceanic microplates undergo rapid rotation about a vertical axis and that the instantaneous rotation axes describing the microplate's motion relative to the bounding major plates are frequently located close to its margins with those plates, close to the tips of propagating rifts. We propose a class of edge-driven block models to illustrate how slip across the microplate margins, block rotation, and propagation of rifting may be related to the relative motion of the plates on either side. An important feature of these edge-driven models is that the instantaneous rotation axes are always located on the margins between block and two bounding plates. According to those models the pseudofaults or traces of disrupted seafloor resulting from the propagation of rifting between microplate and major plates may be used independently to approximately trace the continuous kinematic evolution of the microplate back in time. Pseudofault geometries and matching rotations of the Easter microplate show that for most of its 5 m.y. history, block rotation could be driven by the drag of the Nazca and Pacific plates on the microplate's edges rather than by a shear flow of mantle underneath.

Semi-globally input-to-state stable controller design for flexible spacecraft attitude stabilization under bounded disturbances

NASA Astrophysics Data System (ADS)

Hu, Qinglei

2010-02-01

Semi-globally input-to-state stable (ISS) control law is derived for flexible spacecraft attitude maneuvers in the presence of parameter uncertainties and external disturbances. The modified rodrigues parameters (MRP) are used as the kinematic variables since they are nonsingular for all possible rotations. This novel simple control is a proportional-plus-derivative (PD) type controller plus a sign function through a special Lyapunov function construction involving the sum of quadratic terms in the angular velocities, kinematic parameters, modal variables and the cross state weighting. A sufficient condition under which this nonlinear PD-type control law can render the system semi-globally input-to-state stable is provided such that the closed-loop system is robust with respect to any disturbance within a quantifiable restriction on the amplitude, as well as the set of initial conditions, if the control gains are designed appropriately. In addition to detailed derivations of the new controllers design and a rigorous sketch of all the associated stability and attitude convergence proofs, extensive simulation studies have been conducted to validate the design and the results are presented to highlight the ensuring closed-loop performance benefits when compared with the conventional control schemes.

Scattering of waves by impurities in precompressed granular chains.

PubMed

Martínez, Alejandro J; Yasuda, Hiromi; Kim, Eunho; Kevrekidis, P G; Porter, Mason A; Yang, Jinkyu

2016-05-01

We study scattering of waves by impurities in strongly precompressed granular chains. We explore the linear scattering of plane waves and identify a closed-form expression for the reflection and transmission coefficients for the scattering of the waves from both a single impurity and a double impurity. For single-impurity chains, we show that, within the transmission band of the host granular chain, high-frequency waves are strongly attenuated (such that the transmission coefficient vanishes as the wavenumber k→±π), whereas low-frequency waves are well-transmitted through the impurity. For double-impurity chains, we identify a resonance-enabling full transmission at a particular frequency-in a manner that is analogous to the Ramsauer-Townsend (RT) resonance from quantum physics. We also demonstrate that one can tune the frequency of the RT resonance to any value in the pass band of the host chain. We corroborate our theoretical predictions both numerically and experimentally, and we directly observe almost complete transmission for frequencies close to the RT resonance frequency. Finally, we show how this RT resonance can lead to the existence of reflectionless modes in granular chains (including disordered ones) with multiple double impurities.

Using kinematic analysis of movement to predict the time occurrence of an evoked potential associated with a motor command.

PubMed

O'Reilly, Christian; Plamondon, Réjean; Landou, Mohamed K; Stemmer, Brigitte

2013-01-01

This article presents an exploratory study investigating the possibility of predicting the time occurrence of a motor event related potential (ERP) from a kinematic analysis of human movements. Although the response-locked motor potential may link the ERP components to the recorded response, to our knowledge no previous attempt has been made to predict a priori (i.e. before any contact with the electroencephalographic data) the time occurrence of an ERP component based only on the modeling of an overt response. The proposed analysis relies on the delta-lognormal modeling of velocity, as proposed by the kinematic theory of rapid human movement used in several studies of motor control. Although some methodological aspects of this technique still need to be fine-tuned, the initial results showed that the model-based kinematic analysis allowed the prediction of the time occurrence of a motor command ERP in most participants in the experiment. The average map of the motor command ERPs showed that this signal was stronger in electrodes close to the contra-lateral motor area (Fz, FCz, FC1, and FC3). These results seem to support the claims made by the kinematic theory that a motor command is emitted at time t(0), the time reference parameter of the model. This article proposes a new time marker directly associated with a cerebral event (i.e. the emission of a motor command) that can be used for the development of new data analysis methodologies and for the elaboration of new experimental protocols based on ERP. © 2012 Federation of European Neuroscience Societies and Blackwell Publishing Ltd.

Carpal kinematics in quadrupedal monkeys: towards a better understanding of wrist morphology and function

PubMed Central

Daver, Guillaume; Berillon, Gilles; Grimaud-Hervé, Dominique

2012-01-01

The purpose of this study is to provide new data on carpal kinematics in primates in order to deepen our understanding of the relationships between wrist morphology and function. To that end, we provide preliminary data on carpal kinematics in seven species of quadrupedal monkeys that have not been previously investigated in this regard (cercopithecoids, n = 4; ceboids, n = 3). We radiographed wrists from cadavers at their maximum radial and ulnar deviations, as well as at maximum flexion and extension. We took angular measurements to quantify the contribution of the mobility of the two main wrist joints (antebrachiocarpal and midcarpal) with respect to total wrist mobility. We also recorded qualitative observations. Our quantitative results show few clear differences among quadrupedal monkeys for radioulnar deviation and flexion–extension: all the primates studied exhibit a greater midcarpal mobility (approximately 54–83% of the total range of motion) than antebrachiocarpal mobility; however, we identified two patterns of carpal kinematics that show the functional impact of previously recognised morphological variations in quadrupedal monkeys. Firstly, qualitative results show that the partition that divides the proximal joint of the wrist in ceboids results in less mobility and more stability of the ulnar part of the wrist than is seen in cercopithecoids. Secondly, we show that the olive baboon specimen (Papio anubis) is characterised by limited antebrachiocarpal mobility for extension; this effect is likely the result of a radial process that projects on the scaphoid notch, as well as an intraarticular meniscus. Because of these close relationships between carpal kinematics and morphology in quadrupedal monkeys, we hypothesise that, to some extent, these functional tendencies are related to their locomotor hand postures. PMID:22050662

L'espace articulaire de la Robotique Industrielle est un espace vectorielIndustrial Robotics joint space is a vector space

NASA Astrophysics Data System (ADS)

Tondu, Bertrand

2003-05-01

The mathematical modelling of industrial robots is based on the vectorial nature of the n-dimensional joint space of the robot, defined as a kinematic chain with n degrees of freedom. However, in our opinion, the vectorial nature of the joint space has been insufficiently discussed in the literature. We establish the vectorial nature of the joint space of an industrial robot from the fundamental studies of B. Roth on screws. To cite this article: B. Tondu, C. R. Mecanique 331 (2003).

Newtonian Analysis of a Folded Chain Drop

ERIC Educational Resources Information Center

Mungan, Carl E.

2018-01-01

Consider a chain of length L that hangs in a U shape with end A fixed to a rigid support and free end E released from rest starting from the same initial height (call it y = 0) as A. Figure 1 sketches the chain after end E has fallen a distance y. Points O and A are assumed to be close enough to each other and the chain flexible enough that the…

Effects of local thermodynamics and of stellar mass ratio on accretion disc stability in close binaries

NASA Astrophysics Data System (ADS)

Lanzafame, G.

2009-08-01

Inflow kinematics at the inner Lagrangian point L1, gas compressibility, and physical turbulent viscosity play a fundamental role on accretion disc dynamics and structure in a close binary (CB). Physical viscosity supports the accretion disc development inside the primary gravitational potential well, developing the gas radial transport, converting mechanical energy into heat. The Stellar-Mass-Ratio (SMR) between the compact primary and the secondary star (M1/M2) is also effective, not only in the location of the inner Lagrangian point, but also in the angular kinematics of the mass transfer and in the geometry of the gravitational potential wells. In this work we pay attention in particular to the role of the SMR, evaluating boundaries, separating theoretical domains in compressibility-viscosity graphs where physical conditions allow a well-bound disc development, as a function of mass transfer kinematic conditions. In such domains, the lower is the gas compressibility (the higher the polytropic index γ), the higher is the physical viscosity (α) requested. In this work, we show how the boundaries of such domains vary as a function of M1/M2. Conclusions as far as dwarf novae outbursts are concerned, induced by mass transfer rate variations, are also reported. The smaller M1/M2, the shorter the duration of the active-to-quiet and vice-versa transitional phases. Time-scales are of the order of outburst duration of SU Uma, OY Car, Z Cha and SS Cyg-like objects. Moreover, conclusions as far as active-quiet-active phenomena in a CB, according to viscous-thermal instabilities, in accordance to such domains, are also reported.

Postural control strategies during single limb stance following acute lateral ankle sprain.

PubMed

Doherty, Cailbhe; Bleakley, Chris; Hertel, Jay; Caulfield, Brian; Ryan, John; Delahunt, Eamonn

2014-06-01

Single-limb stance is maintained via the integration of visual, vestibular and somatosensory afferents. Musculoskeletal injury challenges the somatosensory system to reweight distorted sensory afferents. This investigation supplements kinetic analysis of eyes-open and eyes-closed single-limb stance tasks with a kinematic profile of lower limb postural orientation in an acute lateral ankle sprain group to assess the adaptive capacity of the sensorimotor system to injury. Sixty-six participants with first-time acute lateral ankle sprain completed a 20-second eyes-open single-limb stance task on their injured and non-injured limbs (task 1). Twenty-three of these participants successfully completed the same 20-second single-limb stance task with their eyes closed (task 2). A non-injured control group of 19 participants completed task 1, with 16 completing task 2. 3-dimensional kinematics of the hip, knee and ankle joints, as well as associated fractal dimension of the center-of-pressure path were determined for each limb during these tasks. Between trial analyses revealed significant differences in stance limb kinematics and fractal dimension of the center-of-pressure path for task 2 only. The control group bilaterally assumed a position of greater hip flexion compared to injured participants on their side-matched "involved"(7.41 [6.1°] vs 1.44 [4.8]°; η(2)=.34) and "uninvolved" (9.59 [8.5°] vs 2.16 [5.6°]; η(2)=.31) limbs, with a greater fractal dimension of the center-of-pressure path (involved limb=1.39 [0.16°] vs 1.25 [0.14°]; uninvolved limb=1.37 [0.21°] vs 1.23 [0.14°]). Bilateral impairment in postural control strategies present following a first time acute lateral ankle sprain. Copyright © 2014 Elsevier Ltd. All rights reserved.

Mapping luminous blue compact galaxies with VIRUS-P. Morphology, line ratios, and kinematics

NASA Astrophysics Data System (ADS)

Cairós, L. M.; Caon, N.; García Lorenzo, B.; Kelz, A.; Roth, M.; Papaderos, P.; Streicher, O.

2012-11-01

Context. Blue compact galaxies (BCG) are narrow emission-line systems that undergo a violent burst of star formation. They are compact, low-luminosity galaxies, with blue colors and low chemical abundances, which offer us a unique opportunity to investigate collective star formation and its effects on galaxy evolution in a relatively simple, dynamically unperturbed environment. Spatially resolved spectrophotometric studies of BCGs are essential for a better understanding of the role of starburst-driven feedback processes on the kinematical and chemical evolution of low-mass galaxies near and far. Aims: We carry out an integral field spectroscopy (IFS) study of a sample of luminous BCGs, with the aim to probe the morphology, kinematics, dust extinction, and excitation mechanisms of their warm interstellar medium (ISM). Methods: We obtained IFS data for five luminous BCGs with VIRUS-P, the prototype instrument for the Visible Integral Field Replicable Unit Spectrograph, attached to the 2.7 m Harlan J. Smith Telescope at the McDonald Observatory. VIRUS-P consists of a square array of 247 optical fibers, which covers a 109″ × 109″ field of view, with a spatial sampling of 4farcs2 and a 0.3 filling factor. We observed in the 3550-5850 Å spectral range, with a resolution of 5 Å FWHM. From these data we built two-dimensional maps of the continuum and the most prominent emission-lines ([O ii] λ3727, Hγ, Hβ and [O iii] λ5007), and investigated the morphology of diagnostic emission-line ratios and the extinction patterns in the ISM as well as stellar and gas kinematics. Additionally, from integrated spectra we inferred total line fluxes and luminosity-weighted extinction coefficients and gas-phase metallicities. Results: All galaxies exhibit an overall regular morphology in the stellar continuum, while their warm ISM morphology is more complex: in II Zw 33 and Mrk 314, the star-forming regions are aligned along a chain-structure; Haro 1, NGC 4670 and III Zw 102 display several salient features, such as extended gaseous filaments and bubbles. A significant intrinsic absorption by dust is present in all galaxies, the most extreme case being III Zw 102. Our data reveal a plethora of kinematical patterns, from overall regular gas and stellar rotation to complex velocity fields produced by structurally and kinematically distinct components.

Kinematic Modeling of Normal Voluntary Mandibular Opening and Closing Velocity-Initial Study.

PubMed

Gawriołek, Krzysztof; Gawriołek, Maria; Komosa, Marek; Piotrowski, Paweł R; Azer, Shereen S

2015-06-01

Determination and quantification of voluntary mandibular velocity movement has not been a thoroughly studied parameter of masticatory movement. This study attempted to objectively define kinematics of mandibular movement based on numerical (digital) analysis of the relations and interactions of velocity diagram records in healthy female individuals. Using a computerized mandibular scanner (K7 Evaluation Software), 72 diagrams of voluntary mandibular velocity movements (36 for opening, 36 for closing) for women with clinically normal motor and functional activities of the masticatory system were recorded. Multiple measurements were analyzed focusing on the curve for maximum velocity records. For each movement, the loop of temporary velocities was determined. The diagram was then entered into AutoCad calculation software where movement analysis was performed. The real maximum velocity values on opening (Vmax ), closing (V0 ), and average velocity values (Vav ) as well as movement accelerations (a) were recorded. Additionally, functional (A1-A2) and geometric (P1-P4) analysis of loop constituent phases were performed, and the relations between the obtained areas were defined. Velocity means and correlation coefficient values for various velocity phases were calculated. The Wilcoxon test produced the following maximum and average velocity results: Vmax = 394 ± 102, Vav = 222 ± 61 for opening, and Vmax = 409 ± 94, Vav = 225 ± 55 mm/s for closing. Both mandibular movement range and velocity change showed significant variability achieving the highest velocity in P2 phase. Voluntary mandibular velocity presents significant variations between healthy individuals. Maximum velocity is obtained when incisal separation is between 12.8 and 13.5 mm. An improved understanding of the patterns of normal mandibular movements may provide an invaluable diagnostic aid to pathological changes within the masticatory system. © 2014 by the American College of Prosthodontists.

Sound Clocks and Sonic Relativity

NASA Astrophysics Data System (ADS)

Todd, Scott L.; Menicucci, Nicolas C.

2017-10-01

Sound propagation within certain non-relativistic condensed matter models obeys a relativistic wave equation despite such systems admitting entirely non-relativistic descriptions. A natural question that arises upon consideration of this is, "do devices exist that will experience the relativity in these systems?" We describe a thought experiment in which `acoustic observers' possess devices called sound clocks that can be connected to form chains. Careful investigation shows that appropriately constructed chains of stationary and moving sound clocks are perceived by observers on the other chain as undergoing the relativistic phenomena of length contraction and time dilation by the Lorentz factor, γ , with c the speed of sound. Sound clocks within moving chains actually tick less frequently than stationary ones and must be separated by a shorter distance than when stationary to satisfy simultaneity conditions. Stationary sound clocks appear to be length contracted and time dilated to moving observers due to their misunderstanding of their own state of motion with respect to the laboratory. Observers restricted to using sound clocks describe a universe kinematically consistent with the theory of special relativity, despite the preferred frame of their universe in the laboratory. Such devices show promise in further probing analogue relativity models, for example in investigating phenomena that require careful consideration of the proper time elapsed for observers.

Recursive thoughts on the simulation of the flexible multibody dynamics of slender offshore structures

NASA Astrophysics Data System (ADS)

Schilder, J.; Ellenbroek, M.; de Boer, A.

2017-12-01

In this work, the floating frame of reference formulation is used to create a flexible multibody model of slender offshore structures such as pipelines and risers. It is shown that due to the chain-like topology of the considered structures, the equation of motion can be expressed in terms of absolute interface coordinates. In the presented form, kinematic constraint equations are satisfied explicitly and the Lagrange multipliers are eliminated from the equations. Hence, the structures can be conveniently coupled to finite element or multibody models of for example seabed and vessel. The chain-like topology enables the efficient use of recursive solution procedures for both transient dynamic analysis and equilibrium analysis. For this, the transfer matrix method is used. In order to improve the convergence of the equilibrium analysis, the analytical solution of an ideal catenary is used as an initial configuration, reducing the number of required iterations.

Inventory decision in a closed-loop supply chain with inspection, sorting, and waste disposal

NASA Astrophysics Data System (ADS)

Dwicahyani, A. R.; Jauhari, W. A.; Kurdhi, N. A.

2016-02-01

The study of returned item inventory management in a closed-loop supply chain system has become an important issue in recent years. So far, investigations about inventory decision making in a closed-loop supply chain system have been confined to traditional forward and reverse oriented material flow supply chain. In this study, we propose an integrated inventory model consisting a supplier, a manufacturer, and a retailer where the manufacturer inspects all of the returned items collected from the customers and classifies them as recoverable or waste. Returned items that recovered through the remanufacturing process and the newly manufactured products are then used to meet the demand of the retailer. However, some recovered items which are not comparable to the ones in quality, classified as refurbished items, are sold to a secondary market at a reduced price. This study also suggests that the flow of returned items is controlled by a decision variable, namely an acceptance quality level of recoverable item in the system. We apply multiple remanufacturing cycle and multiple production cycle policy to the proposed model and give the corresponding iterative procedure to determine the optimal solutions. Further, numerical examples are presented for illustrative purpose.

Efficient dynamic simulation for multiple chain robotic mechanisms

NASA Technical Reports Server (NTRS)

Lilly, Kathryn W.; Orin, David E.

1989-01-01

An efficient O(mN) algorithm for dynamic simulation of simple closed-chain robotic mechanisms is presented, where m is the number of chains, and N is the number of degrees of freedom for each chain. It is based on computation of the operational space inertia matrix (6 x 6) for each chain as seen by the body, load, or object. Also, computation of the chain dynamics, when opened at one end, is required, and the most efficient algorithm is used for this purpose. Parallel implementation of the dynamics for each chain results in an O(N) + O(log sub 2 m+1) algorithm.

Symplectic integration of closed chain rigid body dynamics with internal coordinate equations of motion

NASA Astrophysics Data System (ADS)

Mazur, Alexey K.

1999-07-01

Internal coordinate molecular dynamics (ICMD) is a recent efficient method for modeling polymer molecules which treats them as chains of rigid bodies rather than ensembles of point particles as in Cartesian MD. Unfortunately, it is readily applicable only to linear or tree topologies without closed flexible loops. Important examples violating this condition are sugar rings of nucleic acids, proline residues in proteins, and also disulfide bridges. This paper presents the first complete numerical solution of the chain closure problem within the context of ICMD. The method combines natural implicit fixation of bond lengths and bond angles by the choice of internal coordinates with explicit constraints similar to Cartesian dynamics used to maintain the chain closure. It is affordable for large molecules and makes possible 3-5 times faster dynamics simulations of molecular systems with flexible rings, including important biological objects like nucleic acids and disulfide-bonded proteins.

Ring[bond]chain tautomerism of 2-Aryl-substituted cis- and trans-decahydroquinazolines.

PubMed

Lázár, László; Göblyös, Anikó; Martinek, Tamás A; Fülöp, Ferenc

2002-07-12

In CDCl(3) at 300 K, 2-aryl-substituted cis- and trans-3-isopropyldecahydroquinazolines and trans-3-phenyldecahydroquinazolines proved to be three-component (r(1)[bond]o[bond]r(2)) ring[bond]chain tautomeric mixtures, whereas only ring-closed tautomers could be detected for the 3-methyl-substituted analogues. The proportions of the ring-chain tautomeric forms at equilibrium were strongly influenced by the N-substitutents and the cis-trans ring junction and could be described by the equation log K(X) = rho sigma(+) + log K(X=H). These are the first examples among 2-aryl-1,3-N,N-heterocycles of a three-component ring-chain tautomeric equilibrium characterized by a Hammett-type equation. The stabilities of the ring-closed forms of cis- and trans-2-aryldecahydroquinazolines and the corresponding 3,1-benzoxazines were found to increase in the following sequence of the heteroatom at position 3: NPh < N-i-Pr < O < NMe.

How Doth the Little Crocodilian: Analyzing the Influence of Environmental Viscosity on Feeding Performance of Juvenile Alligator mississippiensis

PubMed Central

Kerfoot, James R.; Easter, Emily; Elsey, Ruth M.

2016-01-01

Wetland habitats are used as nursery sites for hatchling and juvenile alligators (Alligator mississippiensis), where they utilize prey from aquatic and terrestrial settings. However, little is known about how viscosity of the medium influences feeding performance. We hypothesized that timing and linear excursion feeding kinematic variables would be different for individuals feeding on prey above the water compared with the same individuals feeding underwater. Individuals were fed immobile fish prey and feeding events were recorded using a high speed video camera. Feeding performance was summarized by analyzing three feeding kinematic variables (maximum gape, maximum gape velocity, duration of feeding bout) and success of strike. Results of a series of paired t-tests indicated no significant difference in kinematic variables between feeding events above water compared with underwater. Similarity in feeding performance could indicate that prey-capture is not altered by environmental viscosity or that feeding behavior can mitigate its influence. Behavioral differences were observed during feeding events with alligators approaching underwater prey having their mouths partially opened versus fully closed when feeding above water. This behavior could be an indication of a strategy used to overcome water viscosity. PMID:27706023

The influence of golf shaft stiffness on grip and clubhead kinematics.

PubMed

MacKenzie, Sasho J; Boucher, Daniel E

2017-01-01

The purpose of this study was to investigate the influence of shaft stiffness on grip and clubhead kinematics. Two driver shafts with disparate levels of stiffness, but very similar inertial properties, were tested by 33 golfers representing a range of abilities. Shaft deflection data as well as grip and clubhead kinematics were collected from 14 swings, with each shaft, for each golfer using an optical motion capture system. The more flexible shaft (R-Flex) demonstrated a higher contribution to clubhead speed from shaft deflection dynamics (P < .001), but was also associated with significantly less grip angular velocity at impact (P = .001), resulting in no significant difference in clubhead speed (P = .14). However, at the individual level, half of the participants demonstrated a significant difference in clubhead speed between shafts. The more flexible shaft was also associated with significantly different magnitudes of head rotation relative to the grip. More specifically, both bend loft (P < .001) and bend lie (P < .001) were greater for the R-Flex shaft, while bend close (P = .017) was greater for the stiffer (X-Flex) shaft. However, changes in grip orientation resulted in no significant differences in face orientation, between the shafts, at impact.

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

PubMed Central

Torres-Moreno, José Luis; Blanco-Claraco, José Luis; Giménez-Fernández, Antonio; Sanjurjo, Emilio; Naya, Miguel Ángel

2016-01-01

This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics. PMID:26959027

Effect of pectoral fin kinematics on manta ray propulsion

NASA Astrophysics Data System (ADS)

Lu, Hao; Yeo, Khoon Seng; Chew, Chee-Meng

2018-05-01

Recent advancement of bio-inspired underwater vehicles has led to a growing interest in understanding the fluid mechanics of fish locomotion, which involves complex interaction between the deforming structure and its surrounding fluid. Unlike most natural swimmers that undulate their body and caudal fin, manta rays employ an oscillatory mode by flapping their large, flattened pectoral fins to swim forward. Such a lift-based mode can achieve a substantially high propulsive efficiency, which is beneficial to long-distance swimming. In this study, numerical simulations are carried out on a realistic manta ray model to investigate the effect of pectoral fin kinematics on the propulsive performance and flow structure. A traveling wave model, which relates a local deflection angle to radial and azimuthal wavelengths, is applied to generate the motion of the pectoral fins. Hydrodynamic forces and propulsive efficiency are reported for systematically varying kinematic parameters such as wave amplitude and wavelengths. Key flow features, including a leading edge vortex (LEV) that forms close to the tip of each pectoral fin, and a wake consisting of interconnected vortex rings, are identified. In addition, how different fin motions alter the LEV behavior and hence affect the thrust and efficiency is illustrated.

Thin Layer Sensory Cues Affect Antarctic Krill Swimming Kinematics

NASA Astrophysics Data System (ADS)

True, A. C.; Webster, D. R.; Weissburg, M. J.; Yen, J.

2013-11-01

A Bickley jet (laminar, planar free jet) is employed in a recirculating flume system to replicate thin shear and phytoplankton layers for krill behavioral assays. Planar laser-induced fluorescence (LIF) and particle image velocimetry (PIV) measurements quantify the spatiotemporal structure of the chemical and free shear layers, respectively, ensuring a close match to in situ hydrodynamic and biochemical conditions. Path kinematics from digitized trajectories of free-swimming Euphausia superba examine the effects of hydrodynamic sensory cues (deformation rate) and bloom level phytoplankton patches (~1000 cells/mL, Tetraselamis spp.) on krill behavior (body orientation, swimming modes and kinematics, path fracticality). Krill morphology is finely tuned for receiving and deciphering both hydrodynamic and chemical information that is vital for basic life processes such as schooling behaviors, predator/prey, and mate interactions. Changes in individual krill behavior in response to ecologically-relevant sensory cues have the potential to produce population-scale phenomena with significant ecological implications. Krill are a vital trophic link between primary producers (phytoplankton) and larger animals (seabirds, whales, fish, penguins, seals) as well as the subjects of a valuable commercial fishery in the Southern Ocean; thus quantifying krill behavioral responses to relevant sensory cues is an important step towards accurately modeling Antarctic ecosystems.

NIHAO VI. The hidden discs of simulated galaxies

NASA Astrophysics Data System (ADS)

Obreja, Aura; Stinson, Gregory S.; Dutton, Aaron A.; Macciò, Andrea V.; Wang, Liang; Kang, Xi

2016-06-01

Detailed studies of galaxy formation require clear definitions of the structural components of galaxies. Precisely defined components also enable better comparisons between observations and simulations. We use a subsample of 18 cosmological zoom-in simulations from the Numerical Investigation of a Hundred Astrophysical Objects (NIHAO) project to derive a robust method for defining stellar kinematic discs in galaxies. Our method uses Gaussian Mixture Models in a 3D space of dynamical variables. The NIHAO galaxies have the right stellar mass for their halo mass, and their angular momenta and Sérsic indices match observations. While the photometric disc-to-total ratios are close to 1 for all the simulated galaxies, the kinematic ratios are around ˜0.5. Thus, exponential structure does not imply a cold kinematic disc. Above M* ˜ 109.5 M⊙, the decomposition leads to thin discs and spheroids that have clearly different properties, in terms of angular momentum, rotational support, ellipticity, [Fe/H] and [O/Fe]. At M* ≲ 109.5 M⊙, the decomposition selects discs and spheroids with less distinct properties. At these low masses, both the discs and spheroids have exponential profiles with high minor-to-major axes ratios, I.e. thickened discs.

Effect of visual and tactile feedback on kinematic synergies in the grasping hand.

PubMed

Patel, Vrajeshri; Burns, Martin; Vinjamuri, Ramana

2016-08-01

The human hand uses a combination of feedforward and feedback mechanisms to accomplish high degree of freedom in grasp control efficiently. In this study, we used a synergy-based control model to determine the effect of sensory feedback on kinematic synergies in the grasping hand. Ten subjects performed two types of grasps: one that included feedback (real) and one without feedback (memory-guided), at two different speeds (rapid and natural). Kinematic synergies were extracted from rapid real and rapid memory-guided grasps using principal component analysis. Synergies extracted from memory-guided grasps revealed greater preservation of natural inter-finger relationships than those found in corresponding synergies extracted from real grasps. Reconstruction of natural real and natural memory-guided grasps was used to test performance and generalizability of synergies. A temporal analysis of reconstruction patterns revealed the differing contribution of individual synergies in real grasps versus memory-guided grasps. Finally, the results showed that memory-guided synergies could not reconstruct real grasps as accurately as real synergies could reconstruct memory-guided grasps. These results demonstrate how visual and tactile feedback affects a closed-loop synergy-based motor control system.

A whirling plane of satellite galaxies around Centaurus A challenges cold dark matter cosmology

NASA Astrophysics Data System (ADS)

Müller, Oliver; Pawlowski, Marcel S.; Jerjen, Helmut; Lelli, Federico

2018-02-01

The Milky Way and Andromeda galaxies are each surrounded by a thin plane of satellite dwarf galaxies that may be corotating. Cosmological simulations predict that most satellite galaxy systems are close to isotropic with random motions, so those two well-studied systems are often interpreted as rare statistical outliers. We test this assumption using the kinematics of satellite galaxies around the Centaurus A galaxy. Our statistical analysis reveals evidence for corotation in a narrow plane: Of the 16 Centaurus A satellites with kinematic data, 14 follow a coherent velocity pattern aligned with the long axis of their spatial distribution. In standard cosmological simulations, <0.5% of Centaurus A–like systems show such behavior. Corotating satellite systems may be common in the universe, challenging small-scale structure formation in the prevailing cosmological paradigm.

Skin movement artefact assessment and compensation in the estimation of knee-joint kinematics.

PubMed

Lucchetti, L; Cappozzo, A; Cappello, A; Della Croce, U

1998-11-01

In three dimensional (3-D) human movement analysis using close-range photogrammetry, surface marker clusters deform and rigidly move relative to the underlying bone. This introduces an important artefact (skin movement artefact) which propagates to bone position and orientation and joint kinematics estimates. This occurs to the extent that those joint attitude components that undergo small variations result in totally unreliable values. This paper presents an experimental and analytical procedure, to be included in a subject-specific movement analysis protocol, which allows for the assessment of skin movement artefacts and, based on this knowledge, for their compensation. The effectiveness of this procedure was verified with reference to knee-joint kinematics and to the artefacts caused by the hip movements on markers located on the thigh surface. Quantitative validation was achieved through experimental paradigms whereby prior reliable information on the target joint kinematics was available. When position and orientation of bones were determined during the execution of a motor task, using a least-squares optimal estimator, but the rigid artefactual marker cluster movement was not dealt with, then knee joint translations and rotations were affected by root mean square errors (r.m.s.) up to 14 mm and 6 degrees, respectively. When the rigid artefactual movement was also compensated for, then r.m.s errors were reduced to less than 4 mm and 3 degrees, respectively. In addition, errors originally strongly correlated with hip rotations, after compensation, lost this correlation.

Minimizing the cost of locomotion with inclined trunk predicts crouched leg kinematics of small birds at realistic levels of elastic recoil.

PubMed

Rode, Christian; Sutedja, Yefta; Kilbourne, Brandon M; Blickhan, Reinhard; Andrada, Emanuel

2016-02-01

Small birds move with pronograde trunk orientation and crouched legs. Although the pronograde trunk has been suggested to be beneficial for grounded running, the cause(s) of the specific leg kinematics are unknown. Here we show that three charadriiform bird species (northern lapwing, oystercatcher, and avocet; great examples of closely related species that differ remarkably in their hind limb design) move their leg segments during stance in a way that minimizes the cost of locomotion. We imposed measured trunk motions and ground reaction forces on a kinematic model of the birds. The model was used to search for leg configurations that minimize leg work that accounts for two factors: elastic recoil in the intertarsal joint, and cheaper negative muscle work relative to positive muscle work. A physiological level of elasticity (∼ 0.6) yielded segment motions that match the experimental data best, with a root mean square of angular deviations of ∼ 2.1 deg. This finding suggests that the exploitation of elastic recoil shapes the crouched leg kinematics of small birds under the constraint of pronograde trunk motion. Considering that an upright trunk and more extended legs likely decrease the cost of locomotion, our results imply that the cost of locomotion is a secondary movement criterion for small birds. Scaling arguments suggest that our approach may be utilized to provide new insights into the motion of extinct species such as dinosaurs. © 2016. Published by The Company of Biologists Ltd.

Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot. Ammunition Logistics Program

DOE Office of Scientific and Technical Information (OSTI.GOV)

March-Leuba, S.; Jansen, J.F.; Kress, R.L.

1992-08-01

A new program package, Symbolic Manipulator Laboratory (SML), for the automatic generation of both kinematic and static manipulator models in symbolic form is presented. Critical design parameters may be identified and optimized using symbolic models as shown in the sample application presented for the Future Armor Rearm System (FARS) arm. The computer-aided development of the symbolic models yields equations with reduced numerical complexity. Important considerations have been placed on the closed form solutions simplification and on the user friendly operation. The main emphasis of this research is the development of a methodology which is implemented in a computer program capablemore » of generating symbolic kinematic and static forces models of manipulators. The fact that the models are obtained trigonometrically reduced is among the most significant results of this work and the most difficult to implement. Mathematica, a commercial program that allows symbolic manipulation, is used to implement the program package. SML is written such that the user can change any of the subroutines or create new ones easily. To assist the user, an on-line help has been written to make of SML a user friendly package. Some sample applications are presented. The design and optimization of the 5-degrees-of-freedom (DOF) FARS manipulator using SML is discussed. Finally, the kinematic and static models of two different 7-DOF manipulators are calculated symbolically.« less

The biomechanics of running in athletes with previous hamstring injury: A case-control study.

PubMed

Daly, C; Persson, U McCarthy; Twycross-Lewis, R; Woledge, R C; Morrissey, D

2016-04-01

Hamstring injury is prevalent with persistently high reinjury rates. We aim to inform hamstring rehabilitation by exploring the electromyographic and kinematic characteristics of running in athletes with previous hamstring injury. Nine elite male Gaelic games athletes who had returned to sport after hamstring injury and eight closely matched controls sprinted while lower limb kinematics and muscle activity of the previously injured biceps femoris, bilateral gluteus maximus, lumbar erector spinae, rectus femoris, and external oblique were recorded. Intergroup comparisons of muscle activation ratios and kinematics were performed. Previously injured athletes demonstrated significantly reduced biceps femoris muscle activation ratios with respect to ipsilateral gluteus maximus (maximum difference -12.5%, P = 0.03), ipsilateral erector spinae (maximum difference -12.5%, P = 0.01), ipsilateral external oblique (maximum difference -23%, P = 0.01), and contralateral rectus femoris (maximum difference -22%, P = 0.02) in the late swing phase. We also detected sagittal asymmetry in hip flexion (maximum 8°, P = 0.01), pelvic tilt (maximum 4°, P = 0.02), and medial rotation of the knee (maximum 6°, P = 0.03) effectively putting the hamstrings in a lengthened position just before heel strike. Previous hamstring injury is associated with altered biceps femoris associated muscle activity and potentially injurious kinematics. These deficits should be considered and addressed during rehabilitation. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Resolved motion rate and resolved acceleration servo-control of wheeled mobile robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

Muir, P.F.; Neuman, C.P.; Carnegie-Mellon Univ., Pittsburgh, PA

1989-01-01

Accurate motion control of wheeled mobile robots (WMRs) is required for their application to autonomous, semi-autonomous and teleoperated tasks. The similarities between WMRs and stationary manipulators suggest that current, successful, model-based manipulator control algorithms may be applied to WMRs. Special characteristics of WMRs including higher-pairs, closed-chains, friction and unactuated and unsensed joints require innovative modeling methodologies. The WMR modeling challenge has been recently overcome, thus enabling the application of manipulator control algorithms to WMRs. This realization lays the foundation for significant technology transfer from manipulator control to WMR control. We apply two Cartesian-space manipulator control algorithms: resolved motion rate (kinematics-based)more » and resolved acceleration (dynamics-based) control to WMR servo-control. We evaluate simulation studies of two exemplary WMRs: Uranus (a three degree-of-freedom WMR constructed at Carnegie Mellon University), and Bicsun-Bicas (a two degree-of-freedom WMR being constructed at Sandia National Laboratories) under the control of these algorithms. Although resolved motion rate servo-control is adequate for the control of Uranus, resolved acceleration servo-control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities. Successful accurate motion control of these WMRs in simulation is driving current experimental research studies. 18 refs., 7 figs., 5 tabs.« less

Kinematic Modeling Of The Milky Way Using The RAVE And GCS Stellar Surveys

NASA Astrophysics Data System (ADS)

Sharma, Sanjib; Rave Collaboration

2014-01-01

We investigate the kinematic parameters of the Milky Way disc using the Radial Velocity (RAVE) and Geneva-Copenhagen (GCS) stellar surveys. We do this by fitting a kinematic model to the data. Using two distinct Markov Chain Monte Carlo (MCMC) techniques, we investigate the full posterior distributions of the parameters given the data. For RAVE, we restrict ourselves to angular position and radial velocity for each star since these quantities are determined to high accuracy. For GCS, the data consist of the full 6 dimensional phase space but, in contrast to RAVE, are confined to the Solar neighborhood only. We show results using the traditional Gaussian distribution function and compare to the Shu distribution function that handles non-circular orbits more accurately. We investigate the `age-velocity dispersion' relation (AVR) for the three kinematic components (σ_R,σ_φ, σ_z), the radial dependence of the velocity dispersions, the Solar peculiar motion (U_Sun,V_Sun, W_Sun) and the circular velocity (v_c) at the Sun. We investigate models with and without a thick disc. We find that the kinematic parameters derived from RAVE and GCS are in good agreement. The Shu model fits the RAVE data better than the Gaussian model, but a perfect fit could not be found for either model. Furthermore, the Gaussian model predicts a positive radial gradient for the velocity dispersion, while the Shu model does not. The measured Solar peculiar motion, U_Sun=10.5 ±0.13, V_Sun=10.27±0.11, and W_Sun=7.44± 0.09, is in good agreement with estimates of Schonrich et al (2010) but our values for (U_Sun, V_Sun) are slightly lower. We stress that V_Sun is a highly model-dependent quantity and claims of accuracy must be treated with caution. For RAVE, we find that v_c = 212 ±1.4 km/s ; this is a lower bound on the true value as the vertical dependence of asymmetric drift for an isothermal population has been ignored in our analysis.

Closed-loop supply chain models with considering the environmental impact.

PubMed

Mohajeri, Amir; Fallah, Mohammad

2014-01-01

Global warming and climate changes created by large scale emissions of greenhouse gases are a worldwide concern. Due to this, the issue of green supply chain management has received more attention in the last decade. In this study, a closed-loop logistic concept which serves the purposes of recycling, reuse, and recovery required in a green supply chain is applied to integrate the environmental issues into a traditional logistic system. Here, we formulate a comprehensive closed-loop model for the logistics planning considering profitability and ecological goals. In this way, we can achieve the ecological goal reducing the overall amount of CO2 emitted from journeys. Moreover, the profitability criterion can be supported in the cyclic network with the minimum costs and maximum service level. We apply three scenarios and develop problem formulations for each scenario corresponding to the specified regulations and investigate the effect of the regulation on the preferred transport mode and the emissions. To validate the models, some numerical experiments are worked out and a comparative analysis is investigated.

Body weight-supported training in Becker and limb girdle 2I muscular dystrophy.

PubMed

Jensen, Bente R; Berthelsen, Martin P; Husu, Edith; Christensen, Sofie B; Prahm, Kira P; Vissing, John

2016-08-01

We studied the functional effects of combined strength and aerobic anti-gravity training in severely affected patients with Becker and Limb-Girdle muscular dystrophies. Eight patients performed 10-week progressive combined strength (squats, calf raises, lunges) and aerobic (walk/run, jogging in place or high knee-lift) training 3 times/week in a lower-body positive pressure environment. Closed-kinetic-chain leg muscle strength, isometric knee strength, rate of force development (RFD), and reaction time were evaluated. Baseline data indicated an intact neural activation pattern but showed compromised muscle contractile properties. Training (compliance 91%) improved functional leg muscle strength. Squat series performance increased 30%, calf raises 45%, and lunges 23%. Anti-gravity training improved closed-kinetic-chain leg muscle strength despite no changes in isometric knee extension strength and absolute RFD. The improved closed-kinetic-chain performance may relate to neural adaptation involving motor learning and/or improved muscle strength of other muscles than the weak knee extensors. Muscle Nerve 54: 239-243, 2016. © 2016 Wiley Periodicals, Inc.

The topological basis realization and the corresponding XXX spin chain

NASA Astrophysics Data System (ADS)

Sun, C. F.; Xue, K.; Wang, G. C.; Zhou, C. C.; Du, G. J.

2011-06-01

In this paper, it is shown that the XXX model can be constructed from the Temperley-Lieb algebra (TLA) generator. We find that the topological basis states are the two eigenstaes of a closed four-qubit Heisenberg XXX spin chain. Specifically, the spin single states and the energy single state of the system all fall on the topological basis states. It is worth mentioning that for the closed 2N-qubit (N=2, 3, 4, ...) Heisenberg XXX spin chain, all the topological basis states for 2N particles are the spin single states of the system. And the number of the topological basis states is equal to the number of the spin single states of the system, which is \\frac{(2N)!}{N!(N+1)!} .

Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design.

PubMed

Cheng, Long; Hou, Zeng-Guang; Tan, Min; Zhang, W J

2012-10-01

The trajectory tracking problem of a closed-chain five-bar robot is studied in this paper. Based on an error transformation function and the backstepping technique, an approximation-based tracking algorithm is proposed, which can guarantee the control performance of the robotic system in both the stable and transient phases. In particular, the overshoot, settling time, and final tracking error of the robotic system can be all adjusted by properly setting the parameters in the error transformation function. The radial basis function neural network (RBFNN) is used to compensate the complicated nonlinear terms in the closed-loop dynamics of the robotic system. The approximation error of the RBFNN is only required to be bounded, which simplifies the initial "trail-and-error" configuration of the neural network. Illustrative examples are given to verify the theoretical analysis and illustrate the effectiveness of the proposed algorithm. Finally, it is also shown that the proposed approximation-based controller can be simplified by a smart mechanical design of the closed-chain robot, which demonstrates the promise of the integrated design and control philosophy.

Landscaping the structures of GAVI country vaccine supply chains and testing the effects of radical redesign.

PubMed

Lee, Bruce Y; Connor, Diana L; Wateska, Angela R; Norman, Bryan A; Rajgopal, Jayant; Cakouros, Brigid E; Chen, Sheng-I; Claypool, Erin G; Haidari, Leila A; Karir, Veena; Leonard, Jim; Mueller, Leslie E; Paul, Proma; Schmitz, Michelle M; Welling, Joel S; Weng, Yu-Ting; Brown, Shawn T

2015-08-26

Many of the world's vaccine supply chains do not adequately provide vaccines, prompting several questions: how are vaccine supply chains currently structured, are these structures closely tailored to individual countries, and should these supply chains be radically redesigned? We segmented the 57 GAVI-eligible countries' vaccine supply chains based on their structure/morphology, analyzed whether these segments correlated with differences in country characteristics, and then utilized HERMES to develop a detailed simulation model of three sample countries' supply chains and explore the cost and impact of various alternative structures. The majority of supply chains (34 of 57) consist of four levels, despite serving a wide diversity of geographical areas and population sizes. These four-level supply chains loosely fall into three clusters [(1) 18 countries relatively more bottom-heavy, i.e., many more storage locations lower in the supply chain, (2) seven with relatively more storage locations in both top and lower levels, and (3) nine comparatively more top-heavy] which do not correlate closely with any of the country characteristics considered. For all three cluster types, our HERMES modeling found that simplified systems (a central location shipping directly to immunization locations with a limited number of Hubs in between) resulted in lower operating costs. A standard four-tier design template may have been followed for most countries and raises the possibility that simpler and more tailored designs may be warranted. Copyright © 2015 Elsevier Ltd. All rights reserved.

Mapping From an Instrumented Glove to a Robot Hand

NASA Technical Reports Server (NTRS)

Goza, Michael

2005-01-01

An algorithm has been developed to solve the problem of mapping from (1) a glove instrumented with joint-angle sensors to (2) an anthropomorphic robot hand. Such a mapping is needed to generate control signals to make the robot hand mimic the configuration of the hand of a human attempting to control the robot. The mapping problem is complicated by uncertainties in sensor locations caused by variations in sizes and shapes of hands and variations in the fit of the glove. The present mapping algorithm is robust in the face of these uncertainties, largely because it includes a calibration sub-algorithm that inherently adapts the mapping to the specific hand and glove, without need for measuring the hand and without regard for goodness of fit. The algorithm utilizes a forward-kinematics model of the glove derived from documentation provided by the manufacturer of the glove. In this case, forward-kinematics model signifies a mathematical model of the glove fingertip positions as functions of the sensor readings. More specifically, given the sensor readings, the forward-kinematics model calculates the glove fingertip positions in a Cartesian reference frame nominally attached to the palm. The algorithm also utilizes an inverse-kinematics model of the robot hand. In this case, inverse-kinematics model signifies a mathematical model of the robot finger-joint angles as functions of the robot fingertip positions. Again, more specifically, the inverse-kinematics model calculates the finger-joint commands needed to place the fingertips at specified positions in a Cartesian reference frame that is attached to the palm of the robot hand and that nominally corresponds to the Cartesian reference frame attached to the palm of the glove. Initially, because of the aforementioned uncertainties, the glove fingertip positions calculated by the forwardkinematics model in the glove Cartesian reference frame cannot be expected to match the robot fingertip positions in the robot-hand Cartesian reference frame. A calibration must be performed to make the glove and robot-hand fingertip positions correspond more precisely. The calibration procedure involves a few simple hand poses designed to provide well-defined fingertip positions. One of the poses is a fist. In each of the other poses, a finger touches the thumb. The calibration subalgorithm uses the sensor readings from these poses to modify the kinematical models to make the two sets of fingertip positions agree more closely.

A Soft Parallel Kinematic Mechanism.

PubMed

White, Edward L; Case, Jennifer C; Kramer-Bottiglio, Rebecca

2018-02-01

In this article, we describe a novel holonomic soft robotic structure based on a parallel kinematic mechanism. The design is based on the Stewart platform, which uses six sensors and actuators to achieve full six-degree-of-freedom motion. Our design is much less complex than a traditional platform, since it replaces the 12 spherical and universal joints found in a traditional Stewart platform with a single highly deformable elastomer body and flexible actuators. This reduces the total number of parts in the system and simplifies the assembly process. Actuation is achieved through coiled-shape memory alloy actuators. State observation and feedback is accomplished through the use of capacitive elastomer strain gauges. The main structural element is an elastomer joint that provides antagonistic force. We report the response of the actuators and sensors individually, then report the response of the complete assembly. We show that the completed robotic system is able to achieve full position control, and we discuss the limitations associated with using responsive material actuators. We believe that control demonstrated on a single body in this work could be extended to chains of such bodies to create complex soft robots.

Numerical and experimental investigations on unsteady aerodynamics of flapping wings

NASA Astrophysics Data System (ADS)

Yu, Meilin

The development of a dynamic unstructured grid high-order accurate spectral difference (SD) method for the three dimensional compressible Navier-Stokes (N-S) equations and its applications in flapping-wing aerodynamics are carried out in this work. Grid deformation is achieved via an algebraic blending strategy to save computational cost. The Geometric Conservation Law (GCL) is imposed to ensure that grid deformation will not contaminate the flow physics. A low Mach number preconditioning procedure is conducted in the developed solver to handle the bio-inspired flow. The capability of the low Mach number preconditioned SD solver is demonstrated by a series of two dimensional (2D) and three dimensional (3D) simulations of the unsteady vortex dominated flow. Several topics in the flapping wing aerodynamics are numerically and experimentally investigated in this work. These topics cover some of the cutting-edge issues in flapping wing aerodynamics, including the wake structure analysis, airfoil thickness and kinematics effects on the aerodynamic performances, vortex structure analysis around 3D flapping wings and the kinematics optimization. Wake structures behind a sinusoidally pitching NACA0012 airfoil are studied with both experimental and numerical approaches. The experiments are carried out with Particle Image Velocimetry (PIV) and two types of wake transition processes, namely the transition from a drag-indicative wake to a thrust-indicative wake and that from the symmetric wake to the asymmetric wake are distinguished. The numerical results from the developed SD solver agree well with the experimental results. It is numerically found that the deflective direction of the asymmetric wake is determined by the initial conditions, e.g. initial phase angle. As most insects use thin wings (i. e., wing thickness is only a few percent of the chord length) in flapping flight, the effects of airfoil thickness on thrust generation are numerically investigated by simulating the flow fields around a series of plunging NACA symmetric airfoils with thickness ratio ranging from 4.0% to 20.0% of the airfoil chord length. The contribution of viscous force to flapping propulsion is accessed and it is found that viscous force becomes thrust producing, instead of drag producing, and plays a non-negligible role in thrust generation for thin airfoils. This is closely related to the variations of the dynamics of the unsteady vortex structures around the plunging airfoils. As nature flyers use complex wing kinematics in flapping flight, kinematics effects on the aerodynamic performance with different airfoil thicknesses are numerically studied by using a series of NACA symmetric airfoils. It is found that the combined plunging and pitching motion can outperform the pure plunging or pitching motion by sophisticatedly adjusting the airfoil gestures during the oscillation stroke. The thin airfoil better manipulates leading edge vortices (LEVs) than the thick airfoil (NACA0030) does in studied cases, and there exists an optimal thickness for large thrust generation with reasonable propulsive efficiency. With the present kinematics and dynamic parameters, relatively low reduced frequency is conducive for thrust production and propulsive efficiency for all tested airfoil thicknesses. In order to obtain the optimal kinematics parameters of flapping flight, a kinematics optimization is then performed. A gradient-based optimization algorithm is coupled with a second-order SD Navier-Stokes solver to search for the optimal kinematics of a certain airfoil undergoing a combined plunging and pitching motion. Then a high-order SD scheme is used to verify the optimization results and reveal the detailed vortex structures associated with the optimal kinematics of the flapping flight. It is found that for the case with maximum propulsive efficiency, there exists no leading edge separation during most of the oscillation cycle. In order to provide constructive suggestions to the design of micro-air-vehicles (MAVs), 3D simulations of the flapping wings are carried out in this work. Both the rectangular and bio-inspired wings with different kinematics are investigated. The formation process of two-jet-like wake patterns behind the finite-span flapping wing is found to be closely related to the interaction between trailing edge vortices and tip vortices. Then the effects of the wing planforms on the aerodynamics performance of the finite-span flapping wings are elucidated in terms of the evolution and dynamic interaction of unsteady vortex structures.

77 FR 3478 - Center for Scientific Review; Notice of Closed Meetings

Federal Register 2010, 2011, 2012, 2013, 2014

2012-01-24

... Marriott Tysons Corner, 1960--A Chain Bridge Road, McLean, VA 22102. Contact Person: Martha M Faraday, Ph.D... Marriott Tysons Corner, 1960-A Chain Bridge Road McLean, VA 22102. Contact Person: Martha M Faraday, Ph.D...

Grasping in One-Handed Catching in Relation to Performance

PubMed Central

Cesqui, Benedetta; Russo, Marta; Lacquaniti, Francesco; d’Avella, Andrea

2016-01-01

Catching a flying ball involves bringing the hand to the aimed interception point at the right time, adjusting the hand posture to receive the incoming ball and to absorb the ball momentum, and closing the hand to ensure a stable grip. A small error in any of these actions can lead to a failure in catching the ball. Here we sought to gather new insights on what aspects of the catching movements affect the interceptive performance most. In particular, we wondered whether the errors occurred in bringing the hand to the interception point or in closing the fingers on the ball, and whether these two phases of interception differed between individuals. To this end, we characterized grasping and wrist movement kinematics of eleven participants attempting to catch a ball projected in space with different ball arrival heights and flight durations. The spatial position of the ball and of several markers placed on the participant’s arm were recorded by a motion capture system, the hand joint angles were recorded with an instrumented glove, and several movement features were extracted. All participants were able to intercept the ball trajectory (i.e. to touch the ball) in over 90% of cases, but they differed in the ability to grasp the ball (success rate varied between 2% and 85%). Similar temporal features were observed across individuals when they caught the ball. In particular, all participants adapted their wrist movements under varying temporal and arrival height constraints, they aligned the time of peak hand closing velocity to the time of hand-ball contact, and they maintained the same hand closing duration in the different experimental conditions. These movement features characterized successful trials, and hence allowed to evaluate the possible sources of errors underlying unsuccessful trials. Thus, inter-individual and inter-trial variability in the modulation of each kinematic feature were related to catching performance. We observed that different participants used different solutions to bring the hand to the interception point. In particular the value of the wrist velocity at impact distinguished good from poor catchers. However, each individual showed similar wrist kinematics in grasped and touched trials. We also found that specific grasping features predicted the catching outcome, both on a trial-by-trial basis and across individuals of different performance level. A higher speed of hand closing distinguished touched from grasped trials. A proper triggering of the enclosing phase of the grasping movement and an accurate alignment of the peak of the hand closing speed to the impact event predicted the catching performance of different participants. These results indicate that the control of the grasping movement was the main source of errors affecting catching performance in our experiments. Moreover, these results suggest that distinct temporal and spatial features in the coordination of the grasping movement are related to individual catching abilities. PMID:27392041

Stolen Base Physics

NASA Astrophysics Data System (ADS)

Kagan, David

2013-05-01

Few plays in baseball are as consistently close and exciting as the stolen base. While there are several studies of sprinting,2-4 the art of base stealing is much more nuanced. This article describes the motion of the base-stealing runner using a very basic kinematic model. The model will be compared to some data from a Major League game. The predictions of the model show consistency with the skills needed for effective base stealing.

Globular cluster systems - Comparative evolution of Galactic halos

NASA Astrophysics Data System (ADS)

Harris, William E.

Space distributions, metallicity/age distributions, and kinematics are considered for the Milky Way halo system. Comparisons are made with other systems, and time scales for dynamical evolution are considered. It is noted that the globular cluster subsystems of halos resemble each other more closely than their parent galaxies do; this forms a reasonable basis for supposing that they represent a kind of underlying unity in the protogalaxy formation process.

Identification of individual coherent sets associated with flow trajectories using Coherent Structure Coloring

NASA Astrophysics Data System (ADS)

Schlueter-Kuck, Kristy; Dabiri, John

2017-11-01

In recent years, there has been a proliferation of techniques that aim to characterize fluid flow kinematics on the basis of Lagrangian trajectories of collections of tracer particles. Most of these techniques depend on presence of tracer particles that are initially closely-spaced, in order to compute local gradients of their trajectories. In many applications, the requirement of close tracer spacing cannot be satisfied, especially when the tracers are naturally occurring and their distribution is dictated by the underlying flow. Moreover, current methods often focus on determination of the boundaries of coherent sets, whereas in practice it is often valuable to identify the complete set of trajectories that are coherent with an individual trajectory of interest. We extend the concept of Coherent Structure Coloring to achieve identification of the coherent set associated with individual Lagrangian trajectories. This algorithm is proven successful in identifying coherent structures of varying complexities in canonical unsteady flows. Importantly, although the method is demonstrated here in the context of fluid flow kinematics, the generality of the approach allows for its potential application to other unsupervised clustering problems in dynamical systems. This work was supported by the Department of Defense (DoD) through the National Defense Science & Engineering Graduate Fellowship (NDSEG) Program.

Proliferation of twinning in hexagonal close-packed metals: Application to magnesium

NASA Astrophysics Data System (ADS)

Sun, D.; Ponga, M.; Bhattacharya, K.; Ortiz, M.

2018-03-01

Plastic deformation of metallic alloys usually takes place through slip, but occasionally involves twinning. In particular, twinning is important in hexagonal close packed (HCP) materials where the easy slip systems are insufficient to accommodate arbitrary deformations. While deformation by slip mechanisms is reasonably well understood, comparatively less is known about deformation by twinning. Indeed, the identification of relevant twinning modes remains an art. In this paper, we develop a framework combining a fundamental kinematic definition of twins with large-scale atomistic calculations to predict twinning modes of crystalline materials. We apply this framework to magnesium where there are two accepted twin modes, tension and compression, but a number of anomalous observations. Remarkably, our framework shows that there is a very large number of twinning modes that are important in magnesium. Thus, in contrast to the traditional view that plastic deformation is kinematically partitioned between a few modes, our results suggest that deformation in HCP materials is the result of an energetic and kinetic competition between numerous possibilities. Consequently, our findings suggest that the commonly used models of deformation need to be extended in order to take into account a broader and richer variety of twin modes, which, in turn, opens up new avenues for improving the mechanical properties.

Modulations of mirroring activity by desire for social connection and relevance of movement

PubMed Central

Sharer, Elizabeth A.; Bargh, John A.; Pineda, Jaime A.

2014-01-01

Mirroring neurons fire both when an individual moves and observes another move in kind. This simulation of others’ movements is thought to effortlessly and ubiquitously support empathetic connection and social understanding. However, at times this could be maladaptive. How could a boxer mirror a losing opponent’s expressions of fatigue, feeling his weariness, precisely when strength is required? Clearly, the boxer must emotionally disconnect from his opponent and those expressions of fatigue must become irrelevant and not mirrored. But, movements that inform of his opponent’s intentions to deliver an incoming blow are quite relevant and still should require mirroring. We tested these dimensions of emotional connectedness and relevance of movement in an electroencephalography experiment, where participants’ desires to socially connect with a confederate were manipulated. Before manipulation, all participants mirrored the confederate’s purely kinematic (a hand opening and closing) and goal-directed (a hand opening and closing around a token that the participant desired) hand movements. After manipulation, unfairly treated subjects ceased to mirror the purely kinematic movements but continued to mirror goal-relevant movements. Those treated fairly continued to mirror all movements. The results suggest that social mirroring can be adaptive in order to meet the demands of a varied social environment. PMID:24194581

Scale-Dependent Stiffness and Internal Tension of a Model Brush Polymer

NASA Astrophysics Data System (ADS)

Berezney, John P.; Marciel, Amanda B.; Schroeder, Charles M.; Saleh, Omar A.

2017-09-01

Bottle-brush polymers exhibit closely grafted side chains that interact by steric repulsion, thereby causing stiffening of the main polymer chain. We use single-molecule elasticity measurements of model brush polymers to quantify this effect. We find that stiffening is only significant on long length scales, with the main chain retaining flexibility on short scales. From the elasticity data, we extract an estimate of the internal tension generated by side-chain repulsion; this estimate is consistent with the predictions of blob-based scaling theories.

The mechanics of fault-bend folding and tear-fault systems in the Niger Delta

NASA Astrophysics Data System (ADS)

Benesh, Nathan Philip

This dissertation investigates the mechanics of fault-bend folding using the discrete element method (DEM) and explores the nature of tear-fault systems in the deep-water Niger Delta fold-and-thrust belt. In Chapter 1, we employ the DEM to investigate the development of growth structures in anticlinal fault-bend folds. This work was inspired by observations that growth strata in active folds show a pronounced upward decrease in bed dip, in contrast to traditional kinematic fault-bend fold models. Our analysis shows that the modeled folds grow largely by parallel folding as specified by the kinematic theory; however, the process of folding over a broad axial surface zone yields a component of fold growth by limb rotation that is consistent with the patterns observed in natural folds. This result has important implications for how growth structures can he used to constrain slip and paleo-earthquake ages on active blind-thrust faults. In Chapter 2, we expand our DEM study to investigate the development of a wider range of fault-bend folds. We examine the influence of mechanical stratigraphy and quantitatively compare our models with the relationships between fold and fault shape prescribed by the kinematic theory. While the synclinal fault-bend models closely match the kinematic theory, the modeled anticlinal fault-bend folds show robust behavior that is distinct from the kinematic theory. Specifically, we observe that modeled structures maintain a linear relationship between fold shape (gamma) and fault-horizon cutoff angle (theta), rather than expressing the non-linear relationship with two distinct modes of anticlinal folding that is prescribed by the kinematic theory. These observations lead to a revised quantitative relationship for fault-bend folds that can serve as a useful interpretation tool. Finally, in Chapter 3, we examine the 3D relationships of tear- and thrust-fault systems in the western, deep-water Niger Delta. Using 3D seismic reflection data and new map-based structural restoration techniques, we find that the tear faults have distinct displacement patterns that distinguish them from conventional strike-slip faults and reflect their roles in accommodating displacement gradients within the fold-and-thrust belt.

Autonomous Kinematic Calibration of the Robot Manipulator with a Linear Laser-Vision Sensor

NASA Astrophysics Data System (ADS)

Kang, Hee-Jun; Jeong, Jeong-Woo; Shin, Sung-Weon; Suh, Young-Soo; Ro, Young-Schick

This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The data collected by changing robot configuration and measuring the intersection points are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness.

Efficient Jacobian inversion for the control of simple robot manipulators

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1988-01-01

Symbolic inversion of the Jacobian matrix for spherical wrist arms is investigated. It is shown that, taking advantage of the simple geometry of these arms, the closed-form solution of the system Q = J-1X, representing a transformation from task space to joint space, can be obtained very efficiently. The solutions for PUMA, Stanford, and a six-revolute-joint coplanar arm, along with all singular points, are presented. The solution for each joint variable is found as an explicit function of the singular points which provides a better insight into the effect of different singular points on the motion and force exertion of each individual joint. For the above arms, the computation cost of the solution is on the same order as the cost of forward kinematic solution and it is significantly reduced if forward kinematic solution is already obtained. A comparison with previous methods shows that this method is the most efficient to date.

Trajectory tracking control for underactuated stratospheric airship

NASA Astrophysics Data System (ADS)

Zheng, Zewei; Huo, Wei; Wu, Zhe

2012-10-01

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.

Three-dimensional in vivo kinematics of the subtalar joint during dorsi-plantarflexion and inversion-eversion.

PubMed

Goto, Akira; Moritomo, Hisao; Itohara, Tomonobu; Watanabe, Tetsu; Sugamoto, Kazuomi

2009-05-01

It is difficult to determine the kinematics of the subtalar joint because of its anatomical and functional complexity. The purpose of the study was to clarify the 3D kinematics of the subtalar joint in vivo. Subjects were four healthy female volunteers. Magnetic resonance imaging (MRI) sequences were acquired in seven positions during dorsi-plantarflexion (DPF) and in 10 positions during inversion-eversion (IE) at intervals of 10 degrees. MRI data of the talus and calcaneus in the neutral position were superimposed on images of the other positions using voxel-based registration, and relative motions and axes of rotation were visualized and quantitatively calculated. The calcaneus always rotated from dorsolateral to medioplantar during DPF and IE, and the motion plane was very similar to that of the entire foot in IE. The axes of rotation of the calcaneus relative to the talus during DPF and IE had a very close spatial relationship, running obliquely from antero-dorso-medial to postero-planto-lateral and penetrating the talar neck. The rotation angle around each of these calcaneal axes tended to be greater in IE (20 degrees +/- 2 degrees) than in DPF (16 degrees +/- 3 degrees). In DPF, motion of the calcaneus relative to the talus occurred predominantly around maximum dorsiflexion and plantarflexion, with little movement observed at intermediate positions. During IE, the calcaneus exhibited uninterrupted motion related to foot movement. The subtalar joint is essentially a uniaxial joint with a motion plane almost identical to that of IE of the entire foot. Knowledge of normal subtalar kinematics may be helpful when evaluating pathologic conditions.

Force decay of elastomeric chains - a mechanical design and product comparison study.

PubMed

Balhoff, David A; Shuldberg, Matthew; Hagan, Joseph L; Ballard, Richard W; Armbruster, Paul C

2011-03-01

To evaluate the percentage force decay of elastomeric chain products utilizing three different design mechanisms simulating canine retraction; and to evaluate the percentage force decay of elastomeric chain products from four different companies. In vitro, laboratory study. LSUHSC Dental School, New Orleans, LA, USA. Closed (non-spaced), grey elastomeric chains from four companies were selected for the study. Three acrylic resin jigs were constructed to provide a framework for three simulated space closure mechanisms. The 6-5-3, the chain loop, and the 6-3 were the configuration mechanisms used in the study. An electronic force gauge was used to measure the percentage force decay associated with each elastomeric chain over 28 days at preselected times. There was a significant difference in the mean percentage force decay for the three different mechanisms (P < 0·001). For all four companies, the 6-3 mechanical design had the smallest mean percentage force decay. There was a significant difference in the mean percentage force decay for the different companies (P < 0·001). For all three mechanisms, Ormco had the smallest percentage force decay while Unitek had the highest percentage force decay. The significant difference in the mean percentage force decay for the different mechanisms suggests that the 6-3 design is a more efficient means of closing extraction spaces utilizing elastomeric chains.

Improving the Fitness of High-Dimensional Biomechanical Models via Data-Driven Stochastic Exploration

PubMed Central

Bustamante, Carlos D.; Valero-Cuevas, Francisco J.

2010-01-01

The field of complex biomechanical modeling has begun to rely on Monte Carlo techniques to investigate the effects of parameter variability and measurement uncertainty on model outputs, search for optimal parameter combinations, and define model limitations. However, advanced stochastic methods to perform data-driven explorations, such as Markov chain Monte Carlo (MCMC), become necessary as the number of model parameters increases. Here, we demonstrate the feasibility and, what to our knowledge is, the first use of an MCMC approach to improve the fitness of realistically large biomechanical models. We used a Metropolis–Hastings algorithm to search increasingly complex parameter landscapes (3, 8, 24, and 36 dimensions) to uncover underlying distributions of anatomical parameters of a “truth model” of the human thumb on the basis of simulated kinematic data (thumbnail location, orientation, and linear and angular velocities) polluted by zero-mean, uncorrelated multivariate Gaussian “measurement noise.” Driven by these data, ten Markov chains searched each model parameter space for the subspace that best fit the data (posterior distribution). As expected, the convergence time increased, more local minima were found, and marginal distributions broadened as the parameter space complexity increased. In the 36-D scenario, some chains found local minima but the majority of chains converged to the true posterior distribution (confirmed using a cross-validation dataset), thus demonstrating the feasibility and utility of these methods for realistically large biomechanical problems. PMID:19272906

Kinematic Analysis of Javelin Throw Performed by Wheelchair Athletes of Different Functional Classes

PubMed Central

Chow, John W.; Kuenster, Ann F.; Lim, Young-tae

2003-01-01

The purpose of this study was to identify those kinematic characteristics that are most closely related to the functional classification of a wheelchair athlete and measured distance of a javelin throw. Two S-VHS camcorders (60 field·s-1) were used to record the performance of 15 males of different classes. Each subject performed 6-10 throws and the best two legal throws from each subject were selected for analysis. Three-dimensional kinematics of the javelin and upper body segments at the instant of release and during the throw (delivery) were determined. The selection of kinematic parameters that were analyzed in this study was based on a javelin throw model showing the factors that determine the measured distance of a throw. The average of two throws for each subject was used to compute Spearman rank correlation coefficients between selected parameters and measured distance, and between selected parameters and the functional classification. The speeds and angles of the javelin at release, ranged from 9.1 to 14.7 m·s-1 and 29.6 to 35.8°, respectively, were smaller than those exhibited by elite male able-bodied throwers. As expected, the speed of the javelin at release was significantly correlated to both the classification (p<0.01) and measured distance (p<0.001). Of the segmental kinematic parameters, significant correlations were found between the trunk inclination at release and classification and between the angular speed at release and measured distance (p<0.01 for both). The angular speed of the shoulder girdle at release and the average angular speeds of the shoulder girdle during the delivery were significantly correlated to both the classification and measured distance (p<0.05). The results indicate that shoulder girdle movement during the delivery is an important determinant of classification and measured distance. PMID:24616609

An agonist–antagonist cerebellar nuclear system controlling eyelid kinematics during motor learning

PubMed Central

Sánchez-Campusano, Raudel; Gruart, Agnès; Fernández-Mas, Rodrigo; Delgado-García, José M.

2012-01-01

The presence of two antagonistic groups of deep cerebellar nuclei neurons has been reported as necessary for a proper dynamic control of learned motor responses. Most models of cerebellar function seem to ignore the biomechanical need for a double activation–deactivation system controlling eyelid kinematics, since most of them accept that, for closing the eyelid, only the activation of the orbicularis oculi (OO) muscle (via the red nucleus to the facial motor nucleus) is necessary, without a simultaneous deactivation of levator palpebrae motoneurons (via unknown pathways projecting to the perioculomotor area). We have analyzed the kinetic neural commands of two antagonistic types of cerebellar posterior interpositus neuron (IPn) (types A and B), the electromyographic (EMG) activity of the OO muscle, and eyelid kinematic variables in alert behaving cats during classical eyeblink conditioning, using a delay paradigm. We addressed the hypothesis that the interpositus nucleus can be considered an agonist–antagonist system controlling eyelid kinematics during motor learning. To carry out a comparative study of the kinetic–kinematic relationships, we applied timing and dispersion pattern analyses. We concluded that, in accordance with a dominant role of cerebellar circuits for the facilitation of flexor responses, type A neurons fire during active eyelid downward displacements—i.e., during the active contraction of the OO muscle. In contrast, type B neurons present a high tonic rate when the eyelids are wide open, and stop firing during any active downward displacement of the upper eyelid. From a functional point of view, it could be suggested that type B neurons play a facilitative role for the antagonistic action of the levator palpebrae muscle. From an anatomical point of view, the possibility that cerebellar nuclear type B neurons project to the perioculomotor area—i.e., more or less directly onto levator palpebrae motoneurons—is highly appealing. PMID:22435053

Tunnel current across linear homocatenated germanium chains

NASA Astrophysics Data System (ADS)

Matsuura, Yukihito

2014-01-01

The electronic transport properties of germanium oligomers catenating into linear chains (linear Ge chains) have been theoretically studied using first principle methods. The conduction mechanism of a Ge chain sandwiched between gold electrodes was analyzed based on the density of states and the eigenstates of the molecule in a two-probe environment. Like that of silicon chains (Si chains), the highest occupied molecular orbital of Ge chains contains the extended σ-conjugation of Ge 4p orbitals at energy levels close to the Fermi level; this is in contrast to the electronic properties of linear carbon chains. Furthermore, the conductance of a Ge chain is expected to decrease exponentially with molecular length L. The decay constant β, which is defined as e-βL, of a Ge chain is similar to that of a Si chain, whereas the conductance of the Ge chains is higher than that of Si chains even though the Ge-Ge bond length is longer than the Si-Si bond length.

DOE Office of Scientific and Technical Information (OSTI.GOV)

March-Leuba, S.; Jansen, J.F.; Kress, R.L.

A new program package, Symbolic Manipulator Laboratory (SML), for the automatic generation of both kinematic and static manipulator models in symbolic form is presented. Critical design parameters may be identified and optimized using symbolic models as shown in the sample application presented for the Future Armor Rearm System (FARS) arm. The computer-aided development of the symbolic models yields equations with reduced numerical complexity. Important considerations have been placed on the closed form solutions simplification and on the user friendly operation. The main emphasis of this research is the development of a methodology which is implemented in a computer program capablemore » of generating symbolic kinematic and static forces models of manipulators. The fact that the models are obtained trigonometrically reduced is among the most significant results of this work and the most difficult to implement. Mathematica, a commercial program that allows symbolic manipulation, is used to implement the program package. SML is written such that the user can change any of the subroutines or create new ones easily. To assist the user, an on-line help has been written to make of SML a user friendly package. Some sample applications are presented. The design and optimization of the 5-degrees-of-freedom (DOF) FARS manipulator using SML is discussed. Finally, the kinematic and static models of two different 7-DOF manipulators are calculated symbolically.« less

Effect of the racket mass and the rate of strokes on kinematics and kinetics in the table tennis topspin backhand.

PubMed

Iino, Yoichi; Kojima, Takeji

2016-01-01

The purpose of this study was to investigate the effect of the racket mass and the rate of strokes on the kinematics and kinetics of the trunk and the racket arm in the table tennis topspin backhand. Eight male Division I collegiate table tennis players hit topspin backhands against topspin balls projected at 75 balls · min(-1) and 35 balls · min(-1) using three rackets varying in mass of 153.5, 176 and 201.5 g. A motion capture system was used to obtain trunk and racket arm motion data. The joint torques of the racket arm were determined using inverse dynamics. The racket mass did not significantly affect all the trunk and racket arm kinematics and kinetics examined except for the wrist dorsiflexion torque, which was significantly larger for the large mass racket than for the small mass racket. The racket speed at impact was significantly lower for the high ball frequency than for the low ball frequency. This was probably because pelvis and upper trunk axial rotations tended to be more restricted for the high ball frequency. The result highlights one of the advantages of playing close to the table and making the rally speed fast.

Generation of vertical angular momentum in single, double, and triple-turn pirouette en dehors in ballet.

PubMed

Kim, Jemin; Wilson, Margaret A; Singhal, Kunal; Gamblin, Sarah; Suh, Cha-Young; Kwon, Young-Hoo

2014-09-01

The purpose of this study was to investigate the vertical angular momentum generation strategies used by skilled ballet dancers in pirouette en dehors. Select kinematic parameters of the pirouette preparation (stance depth, vertical center-of-mass motion range, initial shoulder line position, shoulder line angular displacement, and maximum trunk twist angle) along with vertical angular momentum parameters during the turn (maximum momentums of the whole body and body parts, and duration and rate of generation) were obtained from nine skilled collegiate ballet dancers through a three-dimensional motion analysis and compared among three turn conditions (single, double, and triple). A one-way ('turn') multivariate analysis of variance of the kinematic parameters and angular momentum parameters of the whole body and a two-way analysis of variance ('turn' × 'body') of the maximum angular momentums of the body parts were conducted. Significant 'turn' effects were observed in the kinematic/angular momentum parameters (both the preparation and the turn) (p <  0.05). As the number of turns increased, skilled dancers generated larger vertical angular momentums by predominantly increasing the rate of momentum generation using rotation of the upper trunk and arms. The trail (closing) arm showed the largest contribution to whole-body angular momentum followed by the lead arm.

Utopian Kinetic Structures and Their Impact on the Contemporary Architecture

NASA Astrophysics Data System (ADS)

Cudzik, Jan; Nyka, Lucyna

2017-10-01

This paper delves into relationships between twentieth century utopian concepts of movable structures and the kinematic solutions implemented in contemporary architectural projects. The reason for conducting this study is to determine the impact of early architectural conceptions on today’s solutions. This paper points out close links that stem from the imagination of artists and architects working in 1960s and 70s and the solutions implemented by contemporary architects of that era. The research method of this paper is based on comparative analyses of architectural forms with adopted kinematic solutions. It is based on archive drawings’ studies and the examination of theoretical concepts. The research pertains to different forms of such mobility that evolved in 1960s and 70s. Many of them, usually based on the simple forms of movement were realized. The more complicated ones remained in the sphere of utopian visionary architecture. In this case, projects often exceed technical limitations and capabilities of design tools. Finally, after some decades, with the development of innovative architectural design tools and new building technologies many early visions materialized into architectural forms. In conclusion, this research indicates that modern kinematic design solutions are often based on conceptual designs formed from the beginning of the second half of the twentieth century.

Sun-to-Earth simulations of geo-effective Coronal Mass Ejections with EUHFORIA: a heliospheric-magnetospheric model chain approach

NASA Astrophysics Data System (ADS)

Scolini, C.; Verbeke, C.; Gopalswamy, N.; Wijsen, N.; Poedts, S.; Mierla, M.; Rodriguez, L.; Pomoell, J.; Cramer, W. D.; Raeder, J.

2017-12-01

Coronal Mass Ejections (CMEs) and their interplanetary counterparts are considered to be the major space weather drivers. An accurate modelling of their onset and propagation up to 1 AU represents a key issue for more reliable space weather forecasts, and predictions about their actual geo-effectiveness can only be performed by coupling global heliospheric models to 3D models describing the terrestrial environment, e.g. magnetospheric and ionospheric codes in the first place. In this work we perform a Sun-to-Earth comprehensive analysis of the July 12, 2012 CME with the aim of testing the space weather predictive capabilities of the newly developed EUHFORIA heliospheric model integrated with the Gibson-Low (GL) flux rope model. In order to achieve this goal, we make use of a model chain approach by using EUHFORIA outputs at Earth as input parameters for the OpenGGCM magnetospheric model. We first reconstruct the CME kinematic parameters by means of single- and multi- spacecraft reconstruction methods based on coronagraphic and heliospheric CME observations. The magnetic field-related parameters of the flux rope are estimated based on imaging observations of the photospheric and low coronal source regions of the eruption. We then simulate the event with EUHFORIA, testing the effect of the different CME kinematic input parameters on simulation results at L1. We compare simulation outputs with in-situ measurements of the Interplanetary CME and we use them as input for the OpenGGCM model, so to investigate the magnetospheric response to solar perturbations. From simulation outputs we extract some global geomagnetic activity indexes and compare them with actual data records and with results obtained by the use of empirical relations. Finally, we discuss the forecasting capabilities of such kind of approach and its future improvements.

Closed-Loop Supply Chain Models with Considering the Environmental Impact

PubMed Central

Fallah, Mohammad

2014-01-01

Global warming and climate changes created by large scale emissions of greenhouse gases are a worldwide concern. Due to this, the issue of green supply chain management has received more attention in the last decade. In this study, a closed-loop logistic concept which serves the purposes of recycling, reuse, and recovery required in a green supply chain is applied to integrate the environmental issues into a traditional logistic system. Here, we formulate a comprehensive closed-loop model for the logistics planning considering profitability and ecological goals. In this way, we can achieve the ecological goal reducing the overall amount of CO2 emitted from journeys. Moreover, the profitability criterion can be supported in the cyclic network with the minimum costs and maximum service level. We apply three scenarios and develop problem formulations for each scenario corresponding to the specified regulations and investigate the effect of the regulation on the preferred transport mode and the emissions. To validate the models, some numerical experiments are worked out and a comparative analysis is investigated. PMID:25309960

Supramolecular structure formation of Langmuir-Blodgett films of comblike precursor and polyimide

DOE Office of Scientific and Technical Information (OSTI.GOV)

Goloudina, S. I., E-mail: goloudina@mail.ru; Luchinin, V. V.; Rozanov, V. V.

2013-03-15

The surface structure of Langmuir-Blodgett films of a comblike polyimide precursor-a rigid-chain polyamic acid alkylamine salt bearing multichains of tertiary amine-and films of the corresponding polyimide were studied by atomic force microscopy (AFM). An analysis of the images of the surface of three-layer films revealed a domain structure. It was found that the Langmuir-Blodgett film formation of the precursor occurs as a result of the layer-by-layer deposition of two-dimensional domains (composed of polyamic acid salt molecules on the water surface) onto a substrate. The formation of domains in a monolayer is associated with the chemical structure of the precursor, tomore » be more precise, with the rigidity of the main chain and the presence of closely spaced aliphatic side chains in the polymer chain, whose total cross-section area is close to the surface area of the projection onto the plane of the repeating unit of the main chain. Polyimide films inherit the domain structure of the precursor films; the inhomogeneity of the film thickness substantially decreases, whereas the domain size and character of their distribution in the film remain unchanged.« less

Model independent particle mass measurements in missing energy events at hadron colliders

NASA Astrophysics Data System (ADS)

Park, Myeonghun

2011-12-01

This dissertation describes several new kinematic methods to measure the masses of new particles in events with missing transverse energy at hadron colliders. Each method relies on the measurement of some feature (a peak or an endpoint) in the distribution of a suitable kinematic variable. The first method makes use of the "Gator" variable s min , whose peak provides a global and fully inclusive measure of the production scale of the new particles. In the early stage of the LHC, this variable can be used both as an estimator and a discriminator for new physics over the standard model backgrounds. The next method studies the invariant mass distributions of the visible decay products from a cascade decay chain and the shapes and endpoints of those distributions. Given a sufficient number of endpoint measurements, one could in principle attempt to invert and solve for the mass spectrum. However, the non-linear character of the relevant coupled quadratic equations often leads to multiple solutions. In addition, there is a combinatorial ambiguity related to the ordering of the decay products from the cascade decay chain. We propose a new set of invariant mass variables which are less sensitive to these problems. We demonstrate how the new particle mass spectrum can be extracted from the measurement of their kinematic endpoints. The remaining methods described in the dissertation are based on "transverse" invariant mass variables like the "Cambridge" transverse mass MT2, the "Sheffield" contrasverse mass MCT and their corresponding one-dimensional projections MT2⊥, M T2||, MCT⊥ , and MCT|| with respect to the upstream transverse momentum U⃗T . The main advantage of all those methods is that they can be applied to very short (single-stage) decay topologies, as well as to a subsystem of the observed event. The methods can also be generalized to the case of non-identical missing particles, as demonstrated in Chapter 7. A complete set of analytical results for the calculation of the relevant variables in each event, as well as the dependence of their endpoints on the underlying mass spectrum is given for each case. In some circumstances, the whole shape of the differential distribution can be theoretically predicted as well. The methods are illustrated with examples from supersymmetry and from top quark production in the standard model.

77 FR 25721 - National Maritime Security Advisory Committee; Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-01

... meeting will be closed to the public. (2) Global Supply Chain Security Initiative. Per the SAFE Port Act (Pub. L. 109-347) the Coast Guard consults with the NMSAC on the Global Supply Chain Security... submitting comments. Mail: Docket Management Facility (M-30), U.S. Department of Transportation, West...

Active Site Gate Dynamics Modulate the Catalytic Activity of the Ubiquitination Enzyme E2-25K.

PubMed

Rout, Manoj K; Lee, Brian L; Lin, Aiyang; Xiao, Wei; Spyracopoulos, Leo

2018-05-03

The ubiquitin proteasome system (UPS) signals for degradation of proteins through attachment of K48-linked polyubiquitin chains, or alterations in protein-protein recognition through attachment of K63-linked chains. Target proteins are ubiquitinated in three sequential chemical steps by a three-component enzyme system. Ubiquitination, or E2 enzymes, catalyze the central step by facilitating reaction of a target protein lysine with the C-terminus of Ub that is attached to the active site cysteine of the E2 through a thioester bond. E2 reactivity is modulated by dynamics of an active site gate, whose central residue packs against the active site cysteine in a closed conformation. Interestingly, for the E2 Ubc13, which specifically catalyzes K63-linked ubiquitination, the central gate residue adopts an open conformation. We set out to determine if active site gate dynamics play a role in catalysis for E2-25K, which adopts the canonical, closed gate conformation, and which selectively synthesizes K48-linked ubiquitin chains. Gate dynamics were characterized using mutagenesis of key residues, combined with enzyme kinetics measurements, and main chain NMR relaxation. The experimental data were interpreted with all atom MD simulations. The data indicate that active site gate opening and closing rates for E2-25K are precisely balanced.

Decorated Heegaard Diagrams and Combinatorial Heegaard Floer Homology

NASA Astrophysics Data System (ADS)

Hammarsten, Carl

Heegaard Floer homology is a collection of invariants for closed oriented three-manifolds, introduced by Ozsvath and Szabo in 2001. The simplest version is defined as the homology of a chain complex coming from a Heegaard diagram of the three manifold. In the original definition, the differentials count the number of points in certain moduli spaces of holomorphic disks, which are hard to compute in general. More recently, Sarkar and Wang (2006) and Ozsvath, Stipsicz and Szabo, (2009) have determined combinatorial methods for computing this homology with Z2 coefficients. Both methods rely on the construction of very specific Heegaard diagrams for the manifold, which are generally very complicated. Given a decorated Heegaard diagram H for a closed oriented 3-manifold Y, that is a Heegaard diagram together with a collection of embedded paths satisfying certain criteria, we describe a combinatorial recipe for a chain complex CF'[special character omitted]( H). If H satisfies some technical constraints we show that this chain complex is homotopically equivalent to the Heegaard Floer chain complex CF[special character omitted](H) and hence has the Heegaard Floer homology HF[special character omitted](Y) as its homology groups. Using branched spines we give an algorithm to construct a decorated Heegaard diagram which satisfies the necessary technical constraints for every closed oriented Y. We present this diagram graphically in the form of a strip diagram.

Predicting timing of foot strike during running, independent of striking technique, using principal component analysis of joint angles.

PubMed

Osis, Sean T; Hettinga, Blayne A; Leitch, Jessica; Ferber, Reed

2014-08-22

As 3-dimensional (3D) motion-capture for clinical gait analysis continues to evolve, new methods must be developed to improve the detection of gait cycle events based on kinematic data. Recently, the application of principal component analysis (PCA) to gait data has shown promise in detecting important biomechanical features. Therefore, the purpose of this study was to define a new foot strike detection method for a continuum of striking techniques, by applying PCA to joint angle waveforms. In accordance with Newtonian mechanics, it was hypothesized that transient features in the sagittal-plane accelerations of the lower extremity would be linked with the impulsive application of force to the foot at foot strike. Kinematic and kinetic data from treadmill running were selected for 154 subjects, from a database of gait biomechanics. Ankle, knee and hip sagittal plane angular acceleration kinematic curves were chained together to form a row input to a PCA matrix. A linear polynomial was calculated based on PCA scores, and a 10-fold cross-validation was performed to evaluate prediction accuracy against gold-standard foot strike as determined by a 10 N rise in the vertical ground reaction force. Results show 89-94% of all predicted foot strikes were within 4 frames (20 ms) of the gold standard with the largest error being 28 ms. It is concluded that this new foot strike detection is an improvement on existing methods and can be applied regardless of whether the runner exhibits a rearfoot, midfoot, or forefoot strike pattern. Copyright © 2014 Elsevier Ltd. All rights reserved.

Differences in the rotational properties of multiple stellar populations in M13: a faster rotation for the `extreme' chemical subpopulation

NASA Astrophysics Data System (ADS)

Cordero, M. J.; Hénault-Brunet, V.; Pilachowski, C. A.; Balbinot, E.; Johnson, C. I.; Varri, A. L.

2017-03-01

We use radial velocities from spectra of giants obtained with the WIYN telescope, coupled with existing chemical abundance measurements of Na and O for the same stars, to probe the presence of kinematic differences among the multiple populations of the globular cluster (GC) M13. To characterize the kinematics of various chemical subsamples, we introduce a method using Bayesian inference along with a Markov chain Monte Carlo algorithm to fit a six-parameter kinematic model (including rotation) to these subsamples. We find that the so-called extreme population (Na-enhanced and extremely O-depleted) exhibits faster rotation around the centre of the cluster than the other cluster stars, in particular, when compared with the dominant `intermediate' population (moderately Na-enhanced and O-depleted). The most likely difference between the rotational amplitude of this extreme population and that of the intermediate population is found to be ˜4 km s-1 , with a 98.4 per cent probability that the rotational amplitude of the extreme population is larger than that of the intermediate population. We argue that the observed difference in rotational amplitudes, obtained when splitting subsamples according to their chemistry, is not a product of the long-term dynamical evolution of the cluster, but more likely a surviving feature imprinted early in the formation history of this GC and its multiple populations. We also find an agreement (within uncertainties) in the inferred position angle of the rotation axis of the different subpopulations considered. We discuss the constraints that these results may place on various formation scenarios.

Design-validation of a hand exoskeleton using musculoskeletal modeling.

PubMed

Hansen, Clint; Gosselin, Florian; Ben Mansour, Khalil; Devos, Pierre; Marin, Frederic

2018-04-01

Exoskeletons are progressively reaching homes and workplaces, allowing interaction with virtual environments, remote control of robots, or assisting human operators in carrying heavy loads. Their design is however still a challenge as these robots, being mechanically linked to the operators who wear them, have to meet ergonomic constraints besides usual robotic requirements in terms of workspace, speed, or efforts. They have in particular to fit the anthropometry and mobility of their users. This traditionally results in numerous prototypes which are progressively fitted to each individual person. In this paper, we propose instead to validate the design of a hand exoskeleton in a fully digital environment, without the need for a physical prototype. The purpose of this study is thus to examine whether finger kinematics are altered when using a given hand exoskeleton. Therefore, user specific musculoskeletal models were created and driven by a motion capture system to evaluate the fingers' joint kinematics when performing two industrial related tasks. The kinematic chain of the exoskeleton was added to the musculoskeletal models and its compliance with the hand movements was evaluated. Our results show that the proposed exoskeleton design does not influence fingers' joints angles, the coefficient of determination between the model with and without exoskeleton being consistently high (R 2 ¯=0.93) and the nRMSE consistently low (nRMSE¯ = 5.42°). These results are promising and this approach combining musculoskeletal and robotic modeling driven by motion capture data could be a key factor in the ergonomics validation of the design of orthotic devices and exoskeletons prior to manufacturing. Copyright © 2017 Elsevier Ltd. All rights reserved.

Methodological factors affecting joint moments estimation in clinical gait analysis: a systematic review.

PubMed

Camomilla, Valentina; Cereatti, Andrea; Cutti, Andrea Giovanni; Fantozzi, Silvia; Stagni, Rita; Vannozzi, Giuseppe

2017-08-18

Quantitative gait analysis can provide a description of joint kinematics and dynamics, and it is recognized as a clinically useful tool for functional assessment, diagnosis and intervention planning. Clinically interpretable parameters are estimated from quantitative measures (i.e. ground reaction forces, skin marker trajectories, etc.) through biomechanical modelling. In particular, the estimation of joint moments during motion is grounded on several modelling assumptions: (1) body segmental and joint kinematics is derived from the trajectories of markers and by modelling the human body as a kinematic chain; (2) joint resultant (net) loads are, usually, derived from force plate measurements through a model of segmental dynamics. Therefore, both measurement errors and modelling assumptions can affect the results, to an extent that also depends on the characteristics of the motor task analysed (i.e. gait speed). Errors affecting the trajectories of joint centres, the orientation of joint functional axes, the joint angular velocities, the accuracy of inertial parameters and force measurements (concurring to the definition of the dynamic model), can weigh differently in the estimation of clinically interpretable joint moments. Numerous studies addressed all these methodological aspects separately, but a critical analysis of how these aspects may affect the clinical interpretation of joint dynamics is still missing. This article aims at filling this gap through a systematic review of the literature, conducted on Web of Science, Scopus and PubMed. The final objective is hence to provide clear take-home messages to guide laboratories in the estimation of joint moments for the clinical practice.

On the closed form mechanistic modeling of milling: Specific cutting energy, torque, and power

NASA Astrophysics Data System (ADS)

Bayoumi, A. E.; Yücesan, G.; Hutton, D. V.

1994-02-01

Specific energy in metal cutting, defined as the energy expended in removing a unit volume of workpiece material, is formulated and determined using a previously developed closed form mechanistic force model for milling operations. Cutting power is computed from the cutting torque, cutting force, kinematics of the cutter, and the volumetric material removal rate. Closed form expressions for specific cutting energy were formulated and found to be functions of the process parameters: pressure and friction for both rake and flank surfaces and chip flow angle at the rake face of the tool. Friction is found to play a very important role in cutting torque and power. Experiments were carried out to determine the effects of feedrate, cutting speed, workpiece material, and flank wear land width on specific cutting energy. It was found that the specific cutting energy increases with a decrease in the chip thickness and with an increase in flank wear land.

Design-Parameters Setup for Power-Split Dual-Regime IVT

NASA Astrophysics Data System (ADS)

Preda, Ion; Ciolan, Gheorghe; Covaciu, Dinu

2017-10-01

To analyze the working possibilities of power-split infinitely variable transmissions (IVTs) it is necessary to follow a systematic approach. The method proposed in this paper consists of generating a block diagram of the transmission and then, based on this diagram, to derive the kinematics and dynamics equations of the transmission. For an actual numerical case, the derived equations are used to find characteristic values of the transmission components (gear and chain drives, planetary units) necessary to calculate the speed ratios, the speeds, torques and powers acting on the shafts and coupling (control) elements, and even to estimate the overall efficiency of the transmission.

Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions

DTIC Science & Technology

2005-01-01

C. Hughes, Spacecraft Attitude Dynamics, New York, NY: Wiley, 1994. [8] H. K. Khalil, “Adaptive Output Feedback Control of Non- linear Systems...Closed-Loop Manipulator Control Using Quaternion Feedback ”, IEEE Trans. Robotics and Automation, Vol. 4, No. 4, pp. 434-440, (1988). [23] E...full-state feedback quaternion based controller de- veloped in [5] and focuses on the design of a general sub-task controller. This sub-task controller

Systematic generation of multibody equations of motion suitable for recursive and parallel manipulation

NASA Technical Reports Server (NTRS)

Nikravesh, Parviz E.; Gim, Gwanghum; Arabyan, Ara; Rein, Udo

1989-01-01

The formulation of a method known as the joint coordinate method for automatic generation of the equations of motion for multibody systems is summarized. For systems containing open or closed kinematic loops, the equations of motion can be reduced systematically to a minimum number of second order differential equations. The application of recursive and nonrecursive algorithms to this formulation, computational considerations and the feasibility of implementing this formulation on multiprocessor computers are discussed.

An analogue of the Berry phase for simple harmonic oscillators

NASA Astrophysics Data System (ADS)

Suslov, S. K.

2013-03-01

We evaluate a variant of Berry's phase for a ‘missing’ family of the square integrable wavefunctions for the linear harmonic oscillator, which cannot be derived by the separation of variables (in a natural way). Instead, it is obtained by the action of the maximal kinematical invariance group on the standard solutions. A simple closed formula for the phase (in terms of elementary functions) is found here by integration with the help of a computer algebra system.

Variant and invariant patterns embedded in human locomotion through whole body kinematic coordination.

PubMed

Funato, Tetsuro; Aoi, Shinya; Oshima, Hiroko; Tsuchiya, Kazuo

2010-09-01

Step length, cadence and joint flexion all increase in response to increases in gradient and walking speed. However, the tuning strategy leading to these changes has not been elucidated. One characteristic of joint variation that occurs during walking is the close relationship among the joints. This property reduces the number of degrees of freedom and seems to be a key issue in discussing the tuning strategy. This correlation has been analyzed for the lower limbs, but the relation between the trunk and lower body is generally ignored. Two questions about posture during walking are discussed in this paper: (1) whether there is a low-dimensional restriction that determines walking posture, which depends not just on the lower limbs but on the whole body, including the trunk and (2) whether some simple rules appear in different walking conditions. To investigate the correlation, singular value decomposition was applied to a measured walking pattern. This showed that the whole movement can be described by a closed loop on a two-dimensional plane in joint space. Furthermore, by investigating the effect of the walking condition on the decomposed patterns, the position and the tilt of the constraint plane was found to change significantly, while the loop pattern on the constraint plane was shown to be robust. This result indicates that humans select only certain kinematic characteristics for adapting to various walking conditions.

Loop quantum cosmology with self-dual variables

NASA Astrophysics Data System (ADS)

Wilson-Ewing, Edward

2015-12-01

Using the complex-valued self-dual connection variables, the loop quantum cosmology of a closed Friedmann space-time coupled to a massless scalar field is studied. It is shown how the reality conditions can be imposed in the quantum theory by choosing a particular inner product for the kinematical Hilbert space. While holonomies of the self-dual Ashtekar connection are not well defined in the kinematical Hilbert space, it is possible to introduce a family of generalized holonomylike operators of which some are well defined; these operators in turn are used in the definition of the Hamiltonian constraint operator where the scalar field can be used as a relational clock. The resulting quantum theory is closely related, although not identical, to standard loop quantum cosmology constructed from the Ashtekar-Barbero variables with a real Immirzi parameter. Effective Friedmann equations are derived which provide a good approximation to the full quantum dynamics for sharply peaked states whose volume remains much larger than the Planck volume, and they show that for these states quantum gravity effects resolve the big-bang and big-crunch singularities and replace them by a nonsingular bounce. Finally, the loop quantization in self-dual variables of a flat Friedmann space-time is recovered in the limit of zero spatial curvature and is identical to the standard loop quantization in terms of the real-valued Ashtekar-Barbero variables.

Modulations of mirroring activity by desire for social connection and relevance of movement.

PubMed

Aragón, Oriana R; Sharer, Elizabeth A; Bargh, John A; Pineda, Jaime A

2014-11-01

Mirroring neurons fire both when an individual moves and observes another move in kind. This simulation of others' movements is thought to effortlessly and ubiquitously support empathetic connection and social understanding. However, at times this could be maladaptive. How could a boxer mirror a losing opponent's expressions of fatigue, feeling his weariness, precisely when strength is required? Clearly, the boxer must emotionally disconnect from his opponent and those expressions of fatigue must become irrelevant and not mirrored. But, movements that inform of his opponent's intentions to deliver an incoming blow are quite relevant and still should require mirroring. We tested these dimensions of emotional connectedness and relevance of movement in an electroencephalography experiment, where participants' desires to socially connect with a confederate were manipulated. Before manipulation, all participants mirrored the confederate's purely kinematic (a hand opening and closing) and goal-directed (a hand opening and closing around a token that the participant desired) hand movements. After manipulation, unfairly treated subjects ceased to mirror the purely kinematic movements but continued to mirror goal-relevant movements. Those treated fairly continued to mirror all movements. The results suggest that social mirroring can be adaptive in order to meet the demands of a varied social environment. © The Author (2013). Published by Oxford University Press. For Permissions, please email: journals.permissions@oup.com.

GOCE Precise Science Orbits for the Entire Mission and their Use for Gravity Field Recovery

NASA Astrophysics Data System (ADS)

Jäggi, Adrian; Bock, Heike; Meyer, Ulrich; Weigelt, Matthias

The Gravity field and steady-state Ocean Circulation Explorer (GOCE), ESA's first Earth Explorer Core Mission, was launched on March 17, 2009 into a sun-synchronous dusk-dawn orbit and re-entered into the Earth's atmosphere on November 11, 2013. It was equipped with a three-axis gravity gradiometer for high-resolution recovery of the Earth's gravity field, as well as with a 12-channel, dual-frequency Global Positioning System (GPS) receiver for precise orbit determination (POD), instrument time-tagging, and the determination of the long wavelength part of the Earth’s gravity field. A precise science orbit (PSO) product was provided during the entire mission by the GOCE High-level Processing Facility (HPF) from the GPS high-low Satellite-to-Satellite Tracking (hl-SST) data. We present the reduced-dynamic and kinematic PSO results for the entire mission period. Orbit comparisons and validations with independent Satellite Laser Ranging (SLR) measurements demonstrate the high quality of both orbit products being close to 2 cm 1-D RMS, but also reveal a correlation between solar activity, GPS data availability, and the quality of the orbits. We use the 1-sec kinematic positions of the GOCE PSO product for gravity field determination and present GPS-only solutions covering the entire mission period. The generated gravity field solutions reveal severe systematic errors centered along the geomagnetic equator, which may be traced back to the GPS carrier phase observations used for the kinematic orbit determination. The nature of the systematic errors is further investigated and reprocessed orbits free of systematic errors along the geomagnetic equator are derived. Eventually, the potential of recovering time variable signals from GOCE kinematic positions is assessed.

Gender differences in hip and ankle joint kinematics on knee abduction during running.

PubMed

Sakaguchi, Masanori; Ogawa, Haruna; Shimizu, Norifumi; Kanehisa, Hiroaki; Yanai, Toshimasa; Kawakami, Yasuo

2014-01-01

The knee is the most common site of running injuries, particularly prevalent in females. The purpose of this study was to clarify gender differences in the lower extremity kinematics during running, with a specific emphasis on the relationships between the distal and proximal factors and the knee joint kinematics. Eleven female and 11 male runners participated in this study. Three-dimensional marker positions were recorded with a motion analysis system while the subjects ran along a 25 m runway at a speed of 3.5 m/s. Kinematic variables were analyzed for the stance phase of the right leg. Female runners demonstrated significantly greater peak knee abduction (P<0.05), hip adduction (P<0.01) and internal rotation (P<0.05), whereas male runners demonstrated significantly greater peak rearfoot eversion (P<0.01). The knee abduction angles were positively correlated with hip adduction angles (r=0.49, P<0.05) and negatively correlated with rearfoot eversion (r= -0.69, P<0.001). There was no significant difference in normalised step width between genders (P>0.05). Smaller rearfoot eversion and greater hip adduction related closely to the greater knee abduction as the distal and proximal factors, respectively. These relationships are thought to be the compensatory joint motions in the frontal plane, because there was no significant difference in the normalised step width between females and males. The current results suggest that if the step width is identical, the subjects with greater knee abduction had smaller rearfoot eversion to compensate for greater hip adduction, which were more apparent in females. This explains greater knee abduction found in female runners, which can be linked to a high risk of knee injury.

Engine cylinder pressure reconstruction using crank kinematics and recurrently-trained neural networks

NASA Astrophysics Data System (ADS)

Bennett, C.; Dunne, J. F.; Trimby, S.; Richardson, D.

2017-02-01

A recurrent non-linear autoregressive with exogenous input (NARX) neural network is proposed, and a suitable fully-recurrent training methodology is adapted and tuned, for reconstructing cylinder pressure in multi-cylinder IC engines using measured crank kinematics. This type of indirect sensing is important for cost effective closed-loop combustion control and for On-Board Diagnostics. The challenge addressed is to accurately predict cylinder pressure traces within the cycle under generalisation conditions: i.e. using data not previously seen by the network during training. This involves direct construction and calibration of a suitable inverse crank dynamic model, which owing to singular behaviour at top-dead-centre (TDC), has proved difficult via physical model construction, calibration, and inversion. The NARX architecture is specialised and adapted to cylinder pressure reconstruction, using a fully-recurrent training methodology which is needed because the alternatives are too slow and unreliable for practical network training on production engines. The fully-recurrent Robust Adaptive Gradient Descent (RAGD) algorithm, is tuned initially using synthesised crank kinematics, and then tested on real engine data to assess the reconstruction capability. Real data is obtained from a 1.125 l, 3-cylinder, in-line, direct injection spark ignition (DISI) engine involving synchronised measurements of crank kinematics and cylinder pressure across a range of steady-state speed and load conditions. The paper shows that a RAGD-trained NARX network using both crank velocity and crank acceleration as input information, provides fast and robust training. By using the optimum epoch identified during RAGD training, acceptably accurate cylinder pressures, and especially accurate location-of-peak-pressure, can be reconstructed robustly under generalisation conditions, making it the most practical NARX configuration and recurrent training methodology for use on production engines.

River channel bars and dunes - Theory of kinematic waves

USGS Publications Warehouse

Langbein, Walter Basil; Leopold, Luna Bergere

1968-01-01

A kinematic wave is a grouping cf moving objects in zones along a flow path and through which the objects pass. These concentrations may be characterized by a simple relation between the speed of the moving objects and their spacing as a result of interaction between them.Vehicular traffic has long been known to have such properties. Data are introduced to show that beads carried by flowing water in a narrow flume behave in an analogous way. The flux or transport of objects in a single lane of traffic is greatest when the objects are spaced about two diameters apart; beads in a single-lane flume as well as highway traffic conform to this property.By considering the sand in a pipe or flume to a depth affected by dune movement, it is shown that flux-concentration curves similar to the previously known cases can be constructed from experimental data. From the kinematic point of view, concentration of particles in dunes and other wave bed forms results when particles in transport become more numerous or closely spaced and interact to reduce the effectiveness of the ambient water to move them.Field observations over a 5-year period are reported in which individual rocks were painted for identification and placed at various spacings on the bed of ephemeral stream in New Mexico, to study the effect of storm flows on rock movement. The data on about 14,000 rocks so observed show the effect of variable spacing which is quantitatively as well as qualitatively comparable to the spacing effect on small glass beads in a flume. Dunes and gravel bars may be considered kinematic waves caused by particle interaction, and certain of their properties can be related to the characteristics of the flux-concentration curve.

Structure and kinematics of the Bootes filament

NASA Astrophysics Data System (ADS)

Nasonova, O.; Karachentsev, I.; Karachentseva, V.

2016-10-01

Bootes filament of galaxies is a dispersed chain of groups residing on sky between the Local Void and the Virgo cluster. We consider a sample of 361 galaxies inside the sky area of RA = 13h0...18h.5 and Dec = .5°... + 10° with radial velocities VLG < 2000 km/s to clarify its structure and kinematics. In this region, 161 galaxies have individual distance estimates. We use these data to draw the Hubble relation for galaxy groups, pairs as well as the field galaxies, and to examine the galaxy distribution on peculiar velocities. Our analysis exposes the known Virgo-centric infall at RA < 14h and some signs of outflow from the Local Void at RA > 17h. According to the galaxy grouping criterion, this complex contains the members of 13 groups, 11 pairs and 140 field galaxies. The most prominent group is dominated by NGC 5846. The Bootes filament contains the total stellar mass of 2.7 ×1012 M⊙ and the total virial mass of 9.07×1013 M⊙, having the average density of dark matter to be Ωm = 0.09, i.e. a factor three lower than the global cosmic value.

Kinematics of an oblique deformation front using paleomagnetic data; the Altomira-Loranca structures (Iberian Chain, Central Spain)

NASA Astrophysics Data System (ADS)

Valcarcel, M.

2013-05-01

Manoel Valcárcel1, 5, Ruth Soto2, Elisabet Beamud3, Belén Oliva-Urcia4 and Josep Anton Muñoz5 1 IGME, Departamento de Investigación y Prospección Geocientífica. C/ La Calera, 1, 28760 Tres Cantos; m.valcarcel@igme.es 2 IGME, Unidad de Zaragoza, C/ Manuel Lasala 44, 9 B, 50006 Zaragoza, Spain 3 Lab. Paleomagnetisme (CCiT UB-CSIC). ICT "Jaume Almera", Solé i Sabarís, s/n, 08028 Barcelona, Spain. 4 IPE-CSIC, Avda. Montañana 1005, 50059 Zaragoza, Spain 5 Grup Geodinàmica i Anàlisi de Conques, Universitat de Barcelona, Zona Universitària Pedralbes, 08028 Barcelona, Spain The Altomira and Loranca structures consist of a fold-and-thrust system detached on Triassic evaporites. They are oriented N-S to NNE-SSW and NNW-SSE at its northern and southern end, respectively, forming a subtle arc, oblique with respect to the general NW-SE trend of the Iberian Chain. The aim of this work is to characterize with paleomagnetic data the kinematic evolution of the the Altomira Range, located at the southwestern deformation front of the Iberian Chain, and of the structures within its associated piggy-back basin, the Loranca basin. This approach will also give clues regarding the primary and/or secondary origin of these structures to better characterize them in further studies (3D reconstruction and restoration, fault pattern). A total of 180 samples were obtained from 19 sites in Eocene, Oligocene and Miocene rocks (including clays, fine sandstones and limestones). They were analyzed by means of stepwise thermal demagnetization and subsequent measurement of the natural remanent magnetization (NRM). Although fold tests are not statistically significant, a primary origin of the magnetization is deduced by samples showing either normal or reverse polarity after bedding correction of the calculated characteristic components. Declinations of the site mean directions appear scattered after bedding correction suggesting differential vertical-axis rotations. Sites located at the northern and southern sectors display a clockwise rotation of 21 degrees and a counterclockwise rotation of 17 degrees, respectively. These results suggest that the present-day general orientation of the Altomira and Loranca structures respond to a progressive curvature, i. e. they were formed with N-S orientation, already oblique with respect to the NW-SE Iberian Chain trend, with a superimposed secondary deformation that slightly curved their originally linear trend.

On the dynamics of chain systems. [applications in manipulator and human body models

NASA Technical Reports Server (NTRS)

Huston, R. L.; Passerello, C. E.

1974-01-01

A computer-oriented method for obtaining dynamical equations of motion for chain systems is presented. A chain system is defined as an arbitrarily assembled set of rigid bodies such that adjoining bodies have at least one common point and such that closed loops are not formed. The equations of motion are developed through the use of Lagrange's form of d'Alembert's principle. The method and procedure is illustrated with an elementary study of a tripod space manipulator. The method is designed for application with systems such as human body models, chains and cables, and dynamic finite-segment models.

Formation of Close-in Super-Earths in an Evolving Disk Due to Disk Winds

NASA Astrophysics Data System (ADS)

Ogihara, Masahiro; Kokubo, Eiichiro; Suzuki, Takeru; Morbidelli, Alessandro

2018-04-01

Planets with masses larger than Mars mass undergo rapid inward migration (type I migration) in a standard protoplanetary disk. Recent magnetohydrodynamical simulations revealed the presence of magnetically-driven disk winds, which would alter the disk profile and the type I migration in the close-in region (r<1 au). We investigate orbital evolution of planetary embryos in a disk that viscously evolves under effects of magnetically-driven disk winds. The aim is to examine whether observed distributions of close-in super-Earths can be reproduced by simulations. We find that the type I migration is significantly suppressed in a disk with flat surface density profile. After planetary embryos undergo slow inward migration, they are captured in a resonant chain. The resonant chain undergoes late orbital instability during the gas depletion, leading to a non-resonant configuration. We also find that observed distributions of close-in super-Earths (e.g., period ratio, mass ratio) can be reproduced by results of simulations.

Systems and processes for conversion of ethylene feedstocks to hydrocarbon fuels

DOEpatents

Lilga, Michael A.; Hallen, Richard T.; Albrecht, Karl O.; Cooper, Alan R.; Frye, John G.; Ramasamy, Karthikeyan Kallupalayam

2018-04-03

Systems, processes, and catalysts are disclosed for obtaining fuel and fuel blends containing selected ratios of open-chain and closed-chain fuel-range hydrocarbons suitable for production of alternate fuels including gasolines, jet fuels, and diesel fuels. Fuel-range hydrocarbons may be derived from ethylene-containing feedstocks and ethanol-containing feedstocks.

Systems and processes for conversion of ethylene feedstocks to hydrocarbon fuels

DOEpatents

Lilga, Michael A.; Hallen, Richard T.; Albrecht, Karl O.; Cooper, Alan R.; Frye, John G.; Ramasamy, Karthikeyan Kallupalayam

2017-05-30

Systems, processes, and catalysts are disclosed for obtaining fuel and fuel blends containing selected ratios of open-chain and closed-chain fuel-range hydrocarbons suitable for production of alternate fuels including gasolines, jet fuels, and diesel fuels. Fuel-range hydrocarbons may be derived from ethylene-containing feedstocks and ethanol-containing feedstocks.

Systems and processes for conversion of ethylene feedstocks to hydrocarbon fuels

DOEpatents

Lilga, Michael A.; Hallen, Richard T.; Albrecht, Karl O.; Cooper, Alan R.; Frye, John G.; Ramasamy, Karthikeyan Kallupalayam

2017-09-26

Systems, processes, and catalysts are disclosed for obtaining fuels and fuel blends containing selected ratios of open-chain and closed-chain fuel-range hydrocarbons suitable for production of alternate fuels including gasolines, jet fuels, and diesel fuels. Fuel-range hydrocarbons may be derived from ethylene-containing feedstocks and ethanol-containing feedstocks.

75 FR 56858 - Exclusions From Gross Income of Foreign Corporations

Federal Register 2010, 2011, 2012, 2013, 2014

2010-09-17

..., the foreign corporation cannot rely on bearer shares issued at any level in the ownership chain to... in the chain of ownership may not be relied on for purposes of satisfying a stock ownership test... block of stock to preclude nonqualified shareholders in the closely-held block of stock from owning 50...

A comparison between electromechanical and pneumatic-controlled knee simulators for the investigation of wear of total knee replacements.

PubMed

Abdelgaied, Abdellatif; Fisher, John; Jennings, Louise M

2017-07-01

More robust preclinical experimental wear simulation methods are required in order to simulate a wider range of activities, observed in different patient populations such as younger more active patients, as well as to fully meet and be capable of going well beyond the existing requirements of the relevant international standards. A new six-station electromechanically driven simulator (Simulation Solutions, UK) with five fully independently controlled axes of articulation for each station, capable of replicating deep knee bending as well as other adverse conditions, which can be operated in either force or displacement control with improved input kinematic following, has been developed to meet these requirements. This study investigated the wear of a fixed-bearing total knee replacement using this electromechanically driven fully independent knee simulator and compared it to previous data from a predominantly pneumatically controlled simulator in which each station was not fully independently controlled. In addition, the kinematic performance and the repeatability of the simulators have been investigated and compared to the international standard requirements. The wear rates from the electromechanical and pneumatic knee simulators were not significantly different, with wear rates of 2.6 ± 0.9 and 2.7 ± 0.9 mm 3 /million cycles (MC; mean ± 95% confidence interval, p = 0.99) and 5.4 ± 1.4 and 6.7 ± 1.5 mm 3 /MC (mean ± 95 confidence interval, p = 0.54) from the electromechanical and pneumatic simulators under intermediate levels (maximum 5 mm) and high levels (maximum 10 mm) of anterior-posterior displacements, respectively. However, the output kinematic profiles of the control system, which drive the motion of the simulator, followed the input kinematic profiles more closely on the electromechanical simulator than the pneumatic simulator. In addition, the electromechanical simulator was capable of following kinematic and loading input cycles within the tolerances of the international standard requirements (ISO 14243-3). The new-generation electromechanical knee simulator with fully independent control has the potential to be used for a much wider range of kinematic conditions, including high-flexion and other severe conditions, due to its improved capability and performance in comparison to the previously used pneumatic-controlled simulators.

A comparison between electromechanical and pneumatic-controlled knee simulators for the investigation of wear of total knee replacements

PubMed Central

Abdelgaied, Abdellatif; Fisher, John; Jennings, Louise M

2017-01-01

More robust preclinical experimental wear simulation methods are required in order to simulate a wider range of activities, observed in different patient populations such as younger more active patients, as well as to fully meet and be capable of going well beyond the existing requirements of the relevant international standards. A new six-station electromechanically driven simulator (Simulation Solutions, UK) with five fully independently controlled axes of articulation for each station, capable of replicating deep knee bending as well as other adverse conditions, which can be operated in either force or displacement control with improved input kinematic following, has been developed to meet these requirements. This study investigated the wear of a fixed-bearing total knee replacement using this electromechanically driven fully independent knee simulator and compared it to previous data from a predominantly pneumatically controlled simulator in which each station was not fully independently controlled. In addition, the kinematic performance and the repeatability of the simulators have been investigated and compared to the international standard requirements. The wear rates from the electromechanical and pneumatic knee simulators were not significantly different, with wear rates of 2.6 ± 0.9 and 2.7 ± 0.9 mm3/million cycles (MC; mean ± 95% confidence interval, p = 0.99) and 5.4 ± 1.4 and 6.7 ± 1.5 mm3/MC (mean ± 95 confidence interval, p = 0.54) from the electromechanical and pneumatic simulators under intermediate levels (maximum 5 mm) and high levels (maximum 10 mm) of anterior–posterior displacements, respectively. However, the output kinematic profiles of the control system, which drive the motion of the simulator, followed the input kinematic profiles more closely on the electromechanical simulator than the pneumatic simulator. In addition, the electromechanical simulator was capable of following kinematic and loading input cycles within the tolerances of the international standard requirements (ISO 14243-3). The new-generation electromechanical knee simulator with fully independent control has the potential to be used for a much wider range of kinematic conditions, including high-flexion and other severe conditions, due to its improved capability and performance in comparison to the previously used pneumatic-controlled simulators. PMID:28661228

Penrose limits and spin chains in the GJV/CS-SYM duality

NASA Astrophysics Data System (ADS)

Araujo, Thiago; Itsios, Georgios; Nastase, Horatiu; Colgáin, Eoin Ó.

2017-12-01

We examine Penrose limits of the duality proposed by Guarino, Jafferis and Varela between a type IIA massive background of the type of a warped, squashed AdS 4 × S 6, and a 2+1 dimensional IR fixed point of N=8 super Yang-Mills deformed by Chern-Simons terms to N=2 supersymmetry. One type of Penrose limit for closed strings corresponds to a large charge closed spin chain, and another, for open strings on giant graviton D-branes, corresponds to an open spin chain on sub-determinant operators. For the first limit, we find that like in the ABJM case, there are functions f a ( λ) that interpolate between the perturbative and nonperturbative (string) regions for the magnon energy. For the second, we are unable to match the gravity result with the expected field theory result, making this model more interesting than ones with more supersymmetry.

A fuzzy cost-benefit function to select economical products for processing in a closed-loop supply chain

NASA Astrophysics Data System (ADS)

Pochampally, Kishore K.; Gupta, Surendra M.; Cullinane, Thomas P.

2004-02-01

The cost-benefit analysis of data associated with re-processing of used products often involves the uncertainty feature of cash-flow modeling. The data is not objective because of uncertainties in supply, quality and disassembly times of used products. Hence, decision-makers must rely on "fuzzy" data for analysis. The same parties that are involved in the forward supply chain often carry out the collection and re-processing of used products. It is therefore important that the cost-benefit analysis takes the data of both new products and used products into account. In this paper, a fuzzy cost-benefit function is proposed that is used to perform a multi-criteria economic analysis to select the most economical products to process in a closed-loop supply chain. Application of the function is detailed through an illustrative example.

Evolutionary Game Model Study of Construction Green Supply Chain Management under the Government Intervention

NASA Astrophysics Data System (ADS)

Xing, Yuanzhi; Deng, Xiaoyi

2017-11-01

The paper first has defined the concepts of green supply chain management and evolution game theory, and pointed out the characteristics of green supply chain management in construction. The main participants and key links of the construction green supply chain management are determined by constructing the organization framework. This paper established the evolutionary game model between construction enterprises and recycling enterprises for the green supply chain closed-loop structure. The waste recycling evolutionary stability equilibrium solution is obtained to explore the principle and effective scope of government policy intervention. This paper put forward the relevant countermeasures to the green supply chain management in construction recycling stage from the government point of view. The conclusion has reference value and guidance to the final product construction enterprises, recycling enterprises and the government during green supply chain.

Anterior Cruciate Ligament Strain In Vivo: A Systematic Review.

PubMed

Luque-Seron, Juan Antonio; Medina-Porqueres, Ivan

2016-09-01

Distinct exercises have been proposed for knee rehabilitation after anterior cruciate ligament (ACL) reconstruction. There is a need to understand ACL strain behavior during different rehabilitation exercises to protect the graft from excessive strain that could interfere with its healing process. To critically review studies that directly measured normal ACL strain in vivo during different movements, conditions, or exercises to gain insight into which of them may produce more strain on the ligament or the ligament graft in the case of reconstructed knees. A literature search of PubMed, CINAHL, SPORTDiscus, and PEDro databases was conducted. Keywords included anterior cruciate ligament, strain, stress, deformation, transducer, rehabilitation, rehabilitation exercise, physical therapy, and physiotherapy. Inclusion criteria were (1) peer-reviewed studies published in English or Spanish, (2) research conducted on adult human subjects with normal ACLs and healthy knees, and (3) ACL strain directly measured during different movements, conditions, or exercises by using a transducer. Systematic review. Level 4. Specific data were abstracted from the selected studies, including isometric quadriceps and hamstrings activity, active and passive flexion-extension of the knee, closed kinetic chain exercises, and application of joint compressive load. A total of 10 studies met all criteria and were included in the final analysis. The strain values produced by closed kinetic chain and open kinetic chain exercises were similar. However, closed kinetic chain exercises appear to attenuate the strain increase that occurs in open kinetic chain exercises when increasing resistance. These data may be relevant to develop rehabilitation exercises or programs that do not endanger the healing ACL graft and to provide a basis for future clinical trials. © 2016 The Author(s).

Influence of liquid phase on nanoparticle-based giant electrorheological fluid.

PubMed

Gong, Xiuqing; Wu, Jinbo; Huang, Xianxiang; Wen, Weijia; Sheng, Ping

2008-04-23

We show that the chemical structures of silicone oils can have an important role in the giant electrorheological (GER) effect. The interaction between silicone oils and solid nanoparticles is found to significantly influence the ER effect. By increasing the kinematic viscosity of silicone oils, which is a function of siloxane chain length, sol-like, gel-like and clay-like appearances of the constituted ER fluids were observed. Different functional-group-terminated silicone oils were also employed as the dispersing media. Significant differences of yield stress were found. We systematically study the effect of siloxane chain lengths on the permeability of oils traveling through the porous spaces between the particles (using the Washburn method), oils adsorbed on the particles' surface (using FT-IR spectra), as well as their particle size distribution (using dynamic light scattering). Our results indicate the hydrogen bonds are instrumental in linking the silicone oil to GER solid particles, and long chain lengths can enhance the agglomeration of the GER nanoparticles to form large clusters. An optimal oil structure, with hydroxyl-terminated silicone oil and a suitable viscosity, was chosen which can create the highest yield stress of ∼300 kPa under a 5 kV mm(-1) DC electric field.

Accurate multi-robot targeting for keyhole neurosurgery based on external sensor monitoring.

PubMed

Comparetti, Mirko Daniele; Vaccarella, Alberto; Dyagilev, Ilya; Shoham, Moshe; Ferrigno, Giancarlo; De Momi, Elena

2012-05-01

Robotics has recently been introduced in surgery to improve intervention accuracy, to reduce invasiveness and to allow new surgical procedures. In this framework, the ROBOCAST system is an optically surveyed multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system encompasses three robots, connected as a multiple kinematic chain (serial and parallel), totalling 13 degrees of freedom, and it is used to automatically align the probe onto a desired planned trajectory. The probe is then inserted in the brain, towards the planned target, by means of a haptic interface. This paper presents a new iterative targeting approach to be used in surgical robotic navigation, where the multi-robot chain is used to align the surgical probe to the planned pose, and an external sensor is used to decrease the alignment errors. The iterative targeting was tested in an operating room environment using a skull phantom, and the targets were selected on magnetic resonance images. The proposed targeting procedure allows about 0.3 mm to be obtained as the residual median Euclidean distance between the planned and the desired targets, thus satisfying the surgical accuracy requirements (1 mm), due to the resolution of the diffused medical images. The performances proved to be independent of the robot optical sensor calibration accuracy.

Excitonic quantum interference in a quantum dot chain with rings.

PubMed

Hong, Suc-Kyoung; Nam, Seog Woo; Yeon, Kyu-Hwang

2008-04-16

We demonstrate excitonic quantum interference in a closely spaced quantum dot chain with nanorings. In the resonant dipole-dipole interaction model with direct diagonalization method, we have found a peculiar feature that the excitation of specified quantum dots in the chain is completely inhibited, depending on the orientational configuration of the transition dipole moments and specified initial preparation of the excitation. In practice, these excited states facilitating quantum interference can provide a conceptual basis for quantum interference devices of excitonic hopping.

A short essay on quantum black holes and underlying noncommutative quantized space-time

NASA Astrophysics Data System (ADS)

Tanaka, Sho

2017-01-01

We emphasize the importance of noncommutative geometry or Lorenz-covariant quantized space-time towards the ultimate theory of quantum gravity and Planck scale physics. We focus our attention on the statistical and substantial understanding of the Bekenstein-Hawking area-entropy law of black holes in terms of the kinematical holographic relation (KHR). KHR manifestly holds in Yang’s quantized space-time as the result of kinematical reduction of spatial degrees of freedom caused by its own nature of noncommutative geometry, and plays an important role in our approach without any recourse to the familiar hypothesis, so-called holographic principle. In the present paper, we find a unified form of KHR applicable to the whole region ranging from macroscopic to microscopic scales in spatial dimension d  =  3. We notice a possibility of nontrivial modification of area-entropy law of black holes which becomes most remarkable in the extremely microscopic system close to Planck scale.

The Cruciate Ligaments in Total Knee Arthroplasty.

PubMed

Parcells, Bertrand W; Tria, Alfred J

2016-01-01

The early knee replacements were hinge designs that ignored the ligaments of the knee and resurfaced the joint, allowing freedom of motion in a single plane. Advances in implant fixation paved the way for modern designs, including the posterior-stabilized (PS) total knee arthroplasty (TKA) that sacrifices both cruciate ligaments while substituting for the posterior cruciate ligament (PCL), and the cruciate-retaining (CR) TKA designs that sacrifice the anterior cruciate ligament but retain the PCL. The early bicruciate retaining (BCR) TKA designs suffered from loosening and early failures. Townley and Cartier designed BCR knees that had better clinical results but the surgical techniques were challenging.Kinematic studies suggest that normal motion relies on preservation of both cruciate ligaments. Unicompartmental knee arthroplasty retains all knee ligaments and closely matches normal motion, while PS and CR TKA deviate further from normal. The 15% to 20% dissatisfaction rate with current TKA has renewed interest in the BCR design. Replication of normal knee kinematics and proprioception may address some of the dissatisfaction.

Low-degree gravity change from GPS data of COSMIC and GRACE satellite missions

NASA Astrophysics Data System (ADS)

Lin, Tingjung; Hwang, Cheinway; Tseng, Tzu-Pang; Chao, B. F.

2012-01-01

This paper demonstrates estimation of time-varying gravity harmonic coefficients from GPS data of COSMIC and GRACE satellite missions. The kinematic orbits of COSMIC and GRACE are determined to the cm-level accuracy. The NASA Goddard's GEODYN II software is used to model the orbit dynamics of COSMIC and GRACE, including the effect of a static gravity field. The surface forces are estimated per one orbital period. Residual orbits generated from kinematic and reference orbits serve as observables to determine the harmonic coefficients in the weighted-constraint least-squares. The monthly COSMIC and GRACE GPS data from September 2006 to December 2007 (16 months) are processed to estimate harmonic coefficients to degree 5. The geoid variations from the GPS and CSR RL04 (GRACE) solutions show consistent patterns over space and time, especially in regions of active hydrological changes. The monthly GPS-derived second zonal coefficient closely resembles the SLR-derived and CSR RL04 values, and third and fourth zonal coefficients resemble the CSR RL04 values.

Slip initiation in alternative and slip-resistant footwear.

PubMed

Chander, Harish; Wade, Chip; Garner, John C; Knight, Adam C

2017-12-01

Slips occur as a result of failure of normal locomotion. The purpose of this study is to analyze the impact of alternative footwear (Crocs™, flip-flops) and an industry standard low-top slip-resistant shoe (SRS) under multiple gait trials (normal dry, unexpected slip, alert slip and expected slip) on lower extremity joint kinematics, kinetics and muscle activity. Eighteen healthy male participants (age: 22.28 ± 2.2 years; height: 177.66 ± 6.9 cm; mass: 79.27 ± 7.6 kg) completed the study. Kinematic, kinetic and muscle activity variables were analyzed using a 3(footwear) × 4(gait trials) repeated-measures analysis of variance at p = 0.05. Greater plantar flexion angles, lower ground reaction forces and greater muscle activity were seen on slip trials with the alternative footwear. During slip events, SRS closely resembled normal dry biomechanics, suggesting it to be a safer footwear choice compared with alternative footwear.

A whirling plane of satellite galaxies around Centaurus A challenges cold dark matter cosmology.

PubMed

Müller, Oliver; Pawlowski, Marcel S; Jerjen, Helmut; Lelli, Federico

2018-02-02

The Milky Way and Andromeda galaxies are each surrounded by a thin plane of satellite dwarf galaxies that may be corotating. Cosmological simulations predict that most satellite galaxy systems are close to isotropic with random motions, so those two well-studied systems are often interpreted as rare statistical outliers. We test this assumption using the kinematics of satellite galaxies around the Centaurus A galaxy. Our statistical analysis reveals evidence for corotation in a narrow plane: Of the 16 Centaurus A satellites with kinematic data, 14 follow a coherent velocity pattern aligned with the long axis of their spatial distribution. In standard cosmological simulations, <0.5% of Centaurus A-like systems show such behavior. Corotating satellite systems may be common in the universe, challenging small-scale structure formation in the prevailing cosmological paradigm. Copyright © 2018 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

Inverse dynamics of a 3 degree of freedom spatial flexible manipulator

NASA Technical Reports Server (NTRS)

Bayo, Eduardo; Serna, M.

1989-01-01

A technique is presented for solving the inverse dynamics and kinematics of 3 degree of freedom spatial flexible manipulator. The proposed method finds the joint torques necessary to produce a specified end effector motion. Since the inverse dynamic problem in elastic manipulators is closely coupled to the inverse kinematic problem, the solution of the first also renders the displacements and rotations at any point of the manipulator, including the joints. Furthermore the formulation is complete in the sense that it includes all the nonlinear terms due to the large rotation of the links. The Timoshenko beam theory is used to model the elastic characteristics, and the resulting equations of motion are discretized using the finite element method. An iterative solution scheme is proposed that relies on local linearization of the problem. The solution of each linearization is carried out in the frequency domain. The performance and capabilities of this technique are tested through simulation analysis. Results show the potential use of this method for the smooth motion control of space telerobots.

Self-powered thin-film motion vector sensor

PubMed Central

Jing, Qingshen; Xie, Yannan; Zhu, Guang; Han, Ray P. S.; Wang, Zhong Lin

2015-01-01

Harnessing random micromeso-scale ambient energy is not only clean and sustainable, but it also enables self-powered sensors and devices to be realized. Here we report a robust and self-powered kinematic vector sensor fabricated using highly pliable organic films that can be bent to spread over curved and uneven surfaces. The device derives its operational energy from a close-proximity triboelectrification of two surfaces: a polytetrafluoroethylene film coated with a two-column array of copper electrodes that constitutes the mover and a polyimide film with the top and bottom surfaces coated with a two-column aligned array of copper electrodes that comprises the stator. During relative reciprocations, the electrodes in the mover generate electric signals of ±5 V to attain a peak power density of ≥65 mW m−2 at a speed of 0.3 ms−1. From our 86,000 sliding motion tests of kinematic measurements, the sensor exhibits excellent stability, repeatability and strong signal durability. PMID:26271603

The Kinematics of Turbulent Boundary Layer Structure

NASA Technical Reports Server (NTRS)

Robinson, Stephen Kern

1991-01-01

The long history of research into the internal structure of turbulent boundary layers has not provided a unified picture of the physics responsible for turbulence production and dissipation. The goals of the present research are to: (1) define the current state of boundary layer structure knowledge; and (2) utilize direct numerical simulation results to help close the unresolved issues identified in part A and to unify the fragmented knowledge of various coherent motions into a consistent kinematic model of boundary layer structure. The results of the current study show that all classes of coherent motion in the low Reynolds number turbulent boundary layer may be related to vortical structures, but that no single form of vortex is representative of the wide variety of vortical structures observed. In particular, ejection and sweep motions, as well as entrainment from the free-streem are shown to have strong spatial and temporal relationships with vortical structures. Disturbances of vortex size, location, and intensity show that quasi-streamwise vortices dominate the buffer region, while transverse vortices and vortical arches dominate the wake region. Both types of vortical structure are common in the log region. The interrelationships between the various structures and the population distributions of vortices are combined into a conceptual kinematic model for the boundary layer. Aspects of vortical structure dynamics are also postulated, based on time-sequence animations of the numerically simulated flow.

Mass density slope of elliptical galaxies from strong lensing and resolved stellar kinematics

NASA Astrophysics Data System (ADS)

Lyskova, N.; Churazov, E.; Naab, T.

2018-04-01

We discuss constraints on the mass density distribution (parametrized as ρ ∝ r-γ) in early-type galaxies provided by strong lensing and stellar kinematics data. The constraints come from mass measurements at two `pinch' radii. One `pinch' radius r1 = 2.2REinst is defined such that the Einstein (i.e. aperture) mass can be converted into the spherical mass almost independently of the mass-model. Another `pinch' radius r2 = Ropt is chosen so that the dynamical mass, derived from the line-of-sight velocity dispersion, is least sensitive to the anisotropy of stellar orbits. We verified the performance of this approach on a sample of simulated elliptical galaxies and on a sample of 15 SLACS lens galaxies at 0.01 ≤ z ≤ 0.35, which have already been analysed in Barnabè et al. by the self-consistent joint lensing and kinematic code. For massive simulated galaxies, the density slope γ is recovered with an accuracy of ˜13 per cent, unless r1 and r2 happen to be close to each other. For SLACS galaxies, we found good overall agreement with the results of Barnabè et al. with a sample-averaged slope γ = 2.1 ± 0.05. Although the two-pinch-radii approach has larger statistical uncertainties, it is much simpler and uses only few arithmetic operations with directly observable quantities.

Saccade selection when reward probability is dynamically manipulated using Markov chains

PubMed Central

Lovejoy, Lee P.; Krauzlis, Richard J.

2012-01-01

Markov chains (stochastic processes where probabilities are assigned based on the previous outcome) are commonly used to examine the transitions between behavioral states, such as those that occur during foraging or social interactions. However, relatively little is known about how well primates can incorporate knowledge about Markov chains into their behavior. Saccadic eye movements are an example of a simple behavior influenced by information about probability, and thus are good candidates for testing whether subjects can learn Markov chains. In addition, when investigating the influence of probability on saccade target selection, the use of Markov chains could provide an alternative method that avoids confounds present in other task designs. To investigate these possibilities, we evaluated human behavior on a task in which stimulus reward probabilities were assigned using a Markov chain. On each trial, the subject selected one of four identical stimuli by saccade; after selection, feedback indicated the rewarded stimulus. Each session consisted of 200–600 trials, and on some sessions, the reward magnitude varied. On sessions with a uniform reward, subjects (n = 6) learned to select stimuli at a frequency close to reward probability, which is similar to human behavior on matching or probability classification tasks. When informed that a Markov chain assigned reward probabilities, subjects (n = 3) learned to select the greatest reward probability more often, bringing them close to behavior that maximizes reward. On sessions where reward magnitude varied across stimuli, subjects (n = 6) demonstrated preferences for both greater reward probability and greater reward magnitude, resulting in a preference for greater expected value (the product of reward probability and magnitude). These results demonstrate that Markov chains can be used to dynamically assign probabilities that are rapidly exploited by human subjects during saccade target selection. PMID:18330552

Saccade selection when reward probability is dynamically manipulated using Markov chains.

PubMed

Nummela, Samuel U; Lovejoy, Lee P; Krauzlis, Richard J

2008-05-01

Markov chains (stochastic processes where probabilities are assigned based on the previous outcome) are commonly used to examine the transitions between behavioral states, such as those that occur during foraging or social interactions. However, relatively little is known about how well primates can incorporate knowledge about Markov chains into their behavior. Saccadic eye movements are an example of a simple behavior influenced by information about probability, and thus are good candidates for testing whether subjects can learn Markov chains. In addition, when investigating the influence of probability on saccade target selection, the use of Markov chains could provide an alternative method that avoids confounds present in other task designs. To investigate these possibilities, we evaluated human behavior on a task in which stimulus reward probabilities were assigned using a Markov chain. On each trial, the subject selected one of four identical stimuli by saccade; after selection, feedback indicated the rewarded stimulus. Each session consisted of 200-600 trials, and on some sessions, the reward magnitude varied. On sessions with a uniform reward, subjects (n = 6) learned to select stimuli at a frequency close to reward probability, which is similar to human behavior on matching or probability classification tasks. When informed that a Markov chain assigned reward probabilities, subjects (n = 3) learned to select the greatest reward probability more often, bringing them close to behavior that maximizes reward. On sessions where reward magnitude varied across stimuli, subjects (n = 6) demonstrated preferences for both greater reward probability and greater reward magnitude, resulting in a preference for greater expected value (the product of reward probability and magnitude). These results demonstrate that Markov chains can be used to dynamically assign probabilities that are rapidly exploited by human subjects during saccade target selection.

Inertial-space disturbance rejection for robotic manipulators

NASA Technical Reports Server (NTRS)

Holt, Kevin

1992-01-01

The disturbance rejection control problem for a 6-DOF (degree of freedom) PUMA manipulator mounted on a 3-DOF platform is investigated. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Conditions for the stability of the closed-loop system are derived. The performance of the controller is compared for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities.

Effect of a lateral step-up exercise protocol on quadriceps and lower extremity performance.

PubMed

Worrell, T W; Borchert, B; Erner, K; Fritz, J; Leerar, P

1993-12-01

Closed kinetic chain exercises have been promoted as more functional and more appropriate than open kinetic chain exercises. Limited research exists demonstrating the effect of closed kinetic chain exercise on quadriceps and lower extremity performance. The purpose of this study was to determine the effect of a lateral step-up exercise protocol on isokinetic quadriceps peak torque and the following lower extremity activities: 1) leg press, 2) maximal step-up repetitions with body weight plus 25%, 3) hop for distance, and 4) 6-m timed hop. Twenty subjects participated in a 4-week training period, and 18 subjects served as controls. For the experimental group, a repeated measure ANOVA comparing pretest and posttest values revealed significant improvements in the leg press (p < or = .05), step-ups (p < or = .05), hop for distance (p < or = .05), and hop for time (p < or = .05) and no significant increase in isokinetic quadriceps peak torque (p > or = .05). Over the course of the training period, weight used for the step-up exercise increased (p < or = .05), repetitions decreased (p < or = .05), and step-up work did not change (p > or = .05). For the control group, no significant change (p > or = .05) occurred in any variable. The inability of the isokinetic dynamometer to detect increases in quadriceps performance is important because the isokinetic values are frequently used as criteria for return to functional activities. We conclude that closed kinetic chain testing and exercise provide additional means to assess and rehabilitate the lower extremity.

Purification, Characterization and Analysis of the Allergenic Properties of Myosin Light Chain in Procambarus clarkia.

USDA-ARS?s Scientific Manuscript database

Myosin light chain (MLC) plays a vital role in cell and muscle functions and has been identified as an allergen in close species. In this study, MLC with the molecular mass of 18kDa was purified from crayfish (Procambarus clarkii) muscle fibrils. Its physicochemical characterization showed that the...

Shattuckite and plancheite: A crystal chemical study

USGS Publications Warehouse

Evans, Howard T.; Mrose, Mary E.

1966-01-01

The orthorhombic crystal structures of shattuckite, Cu5( SiO3)4(OH)2 and planchétite, Cu8(Si4011)2(OH)4 H2O, have been solved. Shattuckite contains silicate chains similar to pyroxene in a complex association with copper atoms, while the closely related planchéite contains silicate chains similar to amphibole.

USING TODAY'S DATA TO CLOSE THE BEACH TODAY. QUANTITATIVE POLYMERASE CHAIN REACTION (QPCR) RAPID BEACH CLOSING TOOL

EPA Science Inventory

Recreational beaches are an important economic and aesthetic asset to communities, states and the nation as a whole. Considerable resources are expended each year in the measurement of fecal indicator bacteria concentrations in the water at these beaches to determine whether thes...

USING TODAY'S DATA TO CLOSE THE BEACH TODAY. QUANTITATIVE POLYMERASE CHAIN REACTION (QPCR) RAPID BEACH CLOSINGS TOOL

EPA Science Inventory

Recreational beaches are an important economic and aesthetic asset to communities, states and the nation as a whole. Considerable resources are expended each year in the measurement of fecal indicator bacteria concentrations in the water at these beaches to determine whether thes...

3-D subduction dynamics in the western Pacific: Mantle pressure, plate kinematics, and dynamic topography.

NASA Astrophysics Data System (ADS)

Holt, A. F.; Royden, L.; Becker, T. W.; Faccenna, C.

2017-12-01

While it is well established that the slab pull of negatively buoyant oceanic plates is the primary driving force of plate tectonics, the dynamic "details" of subduction have proved difficult to pin down. We use the Philippine Sea Plate region of the western Pacific as a site to explore links between kinematic observables (e.g. topography and plate motions) and the dynamics of the subduction system (e.g. mantle flow, mantle pressure). To first order, the Philippine Sea Plate can be considered to be the central plate of a double slab system containing two slabs that dip in the same direction, to the west. This subduction configuration presents the opportunity to explore subduction dynamics in a setting where two closely spaced slabs interact via subduction-induced mantle flow and stresses transmitted through the intervening plate. We use a 3-D numerical approach (e.g. Holt et al., 2017), augmented by semi-analytical models (e.g. Jagoutz et al., 2017), to develop relationships between dynamic processes and kinematic properties, including plate velocities, lithospheric stress state, slab dip angles, and topography. When combined with subduction zone observables, this allows us to isolate the first order dynamic processes that are in operation in the Philippine Sea Plate region. Our results suggest that positive pressure build-up occurs in the asthenosphere between the two slabs (Izu-Bonin-Mariana and Ryukyu-Nankai), and that this is responsible for producing much of the observed kinematic variability in the region, including the steep dip of the Pacific slab at the Izu-Bonin-Mariana trench, as compared to the flat dip of the Pacific slab north of Japan. We then extend our understanding of the role of asthenospheric pressure to examine the forces responsible for the plate kinematics and dynamic topography of the entire Western Pacific subduction margin(s). References:Holt, A. F., Royden, L. H., Becker, T. W., 2017. Geophys. J. Int., 209, 250-265Jagoutz, O., Royden, L., Holt, A. F., Becker, T. W., 2015. Nature Geo., 8, doi:10.1038/ngeo2418

Aerodynamics of Low Reynolds Number Rigid Flapping Wing Under Hover and Freestream Conditions

NASA Astrophysics Data System (ADS)

Trizila, Patrick Clark

Micro air vehicles (MAVs) are defined by all spatial dimensions being less than 15 cm. Equipped with a video camera or a sensor, these vehicles could perform surveillance and reconnaissance with low rates of detection, or environmental and bio-chemical sensing at remote or otherwise hazardous locations. Its size makes the MAV easily transported and deployed as well as inexpensive and more expendable than alternatives, e.g. an airplane, a satellite, or a human. The ability to hover for an MAV is highly desirable in these contexts. The approach taken in the current studies is to numerically simulate the aerodynamics about flapping wings while controlling the kinematic motions and environmental conditions. Two complementary sets of tools were used in the investigations. Navier-Stokes solvers were used to obtain detailed fluid physics information, instantaneous force data, and to train the surrogate models. The surrogate models were used to estimate the average lift and power required over a flapping cycle while also providing information on the sensitivity of the kinematic variables, to identify trends in lift and power required as a function of the kinematic variables, and to construct a Pareto front showing the trade-offs between the competing objectives. Findings include i) an examination of the competing influences introduced by tip vortices, and it was seen that they could increase lift compared to their analogous 2D cases, counter to classical steady state theory. ii) The highest time averaged lift values were found during kinematics with high angles of attack during advanced rotation as they promoted LEV generation and subsequently took advantage of them during wake capture. iii) Kinematics with synchronized rotation and low angles of attack had surprisingly similar 2D and low-aspect-ratio force histories. iv) Modest environmental perturbations, those a fraction of the translational wing velocity, can have a profound impact on the resulting forces. Closely related open questions regard how the Reynolds number, planform shape, and the flapping about a point, with the resulting centripetal accelerations, affect the LEV and tip vortex development. Particularly what guiding principles should be kept in mind when exploring these degrees of freedom in the context of MAV design?

Paramagnetic colloids: Chaotic routes to clusters and molecules

NASA Astrophysics Data System (ADS)

Abdi, Hamed; Soheilian, Rasam; Erb, Randall M.; Maloney, Craig E.

2018-03-01

We present computer simulations and experiments on dilute suspensions of superparamagnetic particles subject to rotating magnetic fields. We focus on chains of four particles and their decay routes to stable structures. At low rates, the chains track the external field. At intermediate rates, the chains break up but perform a periodic (albeit complex) motion. At sufficiently high rates, the chains generally undergo chaotic motion at short times and decay to either closely packed clusters or more dispersed, colloidal molecules at long times. We show that the transition out of the chaotic states can be described as a Poisson process in both simulation and experiment.

Graph Theory Roots of Spatial Operators for Kinematics and Dynamics

NASA Technical Reports Server (NTRS)

Jain, Abhinandan

2011-01-01

Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component bodies, the indexing schemes, etc. The relationship of the underlying structure is intimately connected with efficient, recursive computational algorithms. The results provide the foundational groundwork for a much broader look at the key problems in kinematics and dynamics. The properties of general graphs and trees of nodes and edge were examined, as well as the properties of adjacency matrices that are used to describe graph connectivity. The nilpotency property of such matrices for directed trees was reviewed, and the adjacency matrices were generalized to the notion of block weighted adjacency matrices that support block matrix elements. This leads us to the development of the notion of Spatial Kernel Operator SKO kernels. These kernels provide the basis for the development of SKO resolvent operators.

Stellar Kinematic Groups. II. A Reexamination of the Membership, Activity, and Age of the Ursa Major Group

NASA Astrophysics Data System (ADS)

King, Jeremy R.; Villarreal, Adam R.; Soderblom, David R.; Gulliver, Austin F.; Adelman, Saul J.

2003-04-01

Utilizing Hipparcos parallaxes, original radial velocities and recent literature values, new Ca II H and K emission measurements, literature-based abundance estimates, and updated photometry (including recent resolved measurements of close doubles), we revisit the Ursa Major moving group membership status of some 220 stars to produce a final clean list of nearly 60 assured members, based on kinematic and photometric criteria. Scatter in the velocity dispersions and H-R diagram is correlated with trial activity-based membership assignments, indicating the usefulness of criteria based on photometric and chromospheric emission to examine membership. Closer inspection, however, shows that activity is considerably more robust at excluding membership, failing to do so only for <=15% of objects, perhaps considerably less. Our UMa members demonstrate nonzero vertex deviation in the Bottlinger diagram, behavior seen in older and recent studies of nearby young disk stars and perhaps related to Galactic spiral structure. Comparison of isochrones and our final UMa group members indicates an age of 500+/-100 Myr, some 200 Myr older than the canonically quoted UMa age. Our UMa kinematic/photometric members' mean chromospheric emission levels, rotational velocities, and scatter therein are indistinguishable from values in the Hyades and smaller than those evinced by members of the younger Pleiades and M34 clusters, suggesting these characteristics decline rapidly with age over 200-500 Myr. None of our UMa members demonstrate inordinately low absolute values of chromospheric emission, but several may show residual fluxes a factor of >=2 below a Hyades-defined lower envelope. If one defines a Maunder-like minimum in a relative sense, then the UMa results may suggest that solar-type stars spend 10% of their entire main-sequence lives in periods of precipitously low activity, which is consistent with estimates from older field stars. As related asides, we note six evolved stars (among our UMa nonmembers) with distinctive kinematics that lie along a 2 Gyr isochrone and appear to be late-type counterparts to disk F stars defining intermediate-age star streams in previous studies, identify a small number of potentially very young but isolated field stars, note that active stars (whether UMa members or not) in our sample lie very close to the solar composition zero-age main sequence, unlike Hipparcos-based positions in the H-R diagram of Pleiades dwarfs, and argue that some extant transformations of activity indices are not adequate for cool dwarfs, for which Ca II infrared triplet emission seems to be a better proxy than Hα-based values for Ca II H and K indices.

Spatial variation of present-day stress field and tectonic regime in Tunisia and surroundings from formal inversion of focal mechanisms: Geodynamic implications for central Mediterranean

NASA Astrophysics Data System (ADS)

Soumaya, Abdelkader; Ben Ayed, Noureddine; Delvaux, Damien; Ghanmi, Mohamed

2015-06-01

We compiled 123 focal mechanisms from various sources for Tunisia and adjacent regions up to Sicily, to image the current stress field in the Maghrebides chain (from Tunisia to Sicily) and its foreland. Stress inversion of all the available data provides a first-order stress field with a N150°E horizontal compression (SHmax) and a transpressional tectonic regime, but the obtained stress tensor poorly fit to the data set. We separated them into regional subsets (boxes) in function of their geographical proximity, kinematic regime, homogeneity of kinematic orientations, and tectonic setting. Their respective inversion evidences second- and third-order spatial variations in tectonic regime and horizontal stress directions. The stress field gradually changes from compression in the Maghrebides thrust belt to transpression and strike slip in the Atlassic and Pelagian foreland, respectively, where preexisting NW-SE to E-W deep faults system are reactivated. This spatial variation of the sismotectonic stress field and tectonic regime is consistent with the neotectonic stress field determined by others from fault slip data. The major Slab Transfer Edge Propagator faults (i.e., North-South Axis-Hammamet relay and Malte Escarpment), which laterally delimit the subducting slabs, play an active role in second- and third-order lateral variations of the tectonic regime and stress field orientations over the Tunisian/Sicilian domain. The past and current tectonic deformations and kinematics of the central Mediterranean are subordinately guided by the plate convergence (i.e., Africa-Eurasia), controlled or influenced by lateral slab migration/segmentation and by deep dynamics such as lithosphere-mantle interaction.

A transitional volume beneath the Sannio-Irpinia border region (southern Apennines): Different tectonic styles at different depths

NASA Astrophysics Data System (ADS)

De Matteo, Ada; Massa, Bruno; Milano, Girolamo; D'Auria, Luca

2018-01-01

In this paper we investigate the border between the Sannio and Irpinia seismogenic regions, a sector of the southern Apennine chain considered among the most active seismic areas of the Italian peninsula, to shed further light on its complex seismotectonic setting. We integrated recent seismicity with literature data. A detailed analysis of the seismicity that occurred in the 2013-2016 time interval was performed. The events were relocated, after manual re-picking, using different approaches. To retrieve information about the stress field active in the area, inversion of Fault Plane Solutions was also carried out. Hypocentral distribution of the relocated events (ML ≤ 3.5), whose depth is included between 5 and 25 km with the deepest ones located in the NW sector of the study area, shows a different pattern between the northern sector and the southern one. The computed Fault Plane Solutions can be grouped in three depth ranges: < 12 km, dominated by normal dip-slip kinematics; 12-18 km, characterized by normal dip-slip and strike-slip kinematics; > 18 km, dominated by strike-slip kinematics. Stress field inversion across the whole area shows that we are dealing with an heterogeneous set of data, apparently governed by distinct stress fields. We built an upper crustal model profile through integration of geological data, well logs and seismic tomographic profiles. Our results suggest the co-existence of different tectonic styles at distinct crustal depths: the upper crust seems to be affected mostly by normal faulting, whereas strike-slip faulting prevails in the intermediate and lower crust. We infer about the existence of a transitional volume, located between 12 and 18 km depth, between the Sannio and Irpinia regions, acting as a vertical transfer zone.

Shoulder assessment according to the international classification of functioning by means of inertial sensor technologies: A systematic review.

PubMed

De Baets, Liesbet; van der Straaten, Rob; Matheve, Thomas; Timmermans, Annick

2017-09-01

This review investigates current protocols using Inertial Measurement Units (IMUs) in shoulder research, and outlines future paths regarding IMU use for shoulder research. Different databases were searched for relevant articles. Criteria for study selection were (1) research in healthy persons or persons with shoulder problems, (2) IMUs applied as assessment tool for the shoulder (in healthy subjects and shoulder patients) or upper limb (in shoulder patients), (3) peer-reviewed, full-text papers in English or Dutch. Studies with less than five participants and without ethical approval were excluded. Data extraction included (1) study design, (2) participant characteristics, (3) type/brand of IMU, (4) tasks included in the assessment protocol, and (5) outcomes. Risk of bias was assessed using the Downs and Black checklist. Scapulothoracic/glenohumeral and humerothoracic kinematics were reported in respectively 10 and 27 of the 37 included papers. Only one paper in healthy persons assessed, next to scapulothoracic/glenohumeral kinematics, other upper limb joints. IMUs' validity and reliability to capture shoulder function was limited. Considering applied protocols, 39% of the protocols was located on the International-Classification-of-Functioning (ICF) function level, while 38% and 23% were on the 'capacity' and 'actual performance'-sublevel, of the ICF-activity level. Most available IMU-research regarding the shoulder is clinically less relevant, given the widely reported humerothoracic kinematics which do not add to clinical-decision-making, and the absence of protocols assessing the complete upper limb chain. Apart from knowledge on methodological pitfalls and opportunities regarding the use of IMUs, this review provides future research paths. Copyright © 2017 Elsevier B.V. All rights reserved.

A new approach to detailed structural decomposition from the splash and phat surveys: Kicked-up disk stars in the Andromeda galaxy?

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dorman, Claire E.; Guhathakurta, Puragra; Widrow, Lawrence M., E-mail: cdorman@ucolick.org, E-mail: raja@ucolick.org, E-mail: widrow@astro.queensu.ca

We characterize the bulge, disk, and halo subcomponents in the Andromeda galaxy (M31) over the radial range 4 kpc < R {sub proj} < 225 kpc. The cospatial nature of these subcomponents renders them difficult to disentangle using surface brightness (SB) information alone, especially interior to ∼20 kpc. Our new decomposition technique combines information from the luminosity function (LF) of over 1.5 million bright (20 < m {sub 814W} < 22) stars from the Panchromatic Hubble Andromeda Treasury survey, radial velocities of over 5000 red giant branch stars in the same magnitude range from the Spectroscopic and Photometric Landscape ofmore » Andromeda's Stellar Halo survey, and integrated I-band SB profiles from various sources. We use an affine-invariant Markov chain Monte Carlo algorithm to fit an appropriate toy model to these three data sets. The bulge, disk, and halo SB profiles are modeled as a Sérsic, exponential, and cored power law, respectively, and the LFs are modeled as broken power laws. We present probability distributions for each of 32 parameters describing the SB profiles and LFs of the three subcomponents. We find that the number of stars with a disk-like LF is 5.2% ± 2.1% larger than the number with disk-like (dynamically cold) kinematics, suggesting that some stars born in the disk have been dynamically heated to the point that they are kinematically indistinguishable from halo members. This is the first kinematical evidence for a 'kicked-up disk' halo population in M31. The fraction of kicked-up disk stars is consistent with that found in simulations. We also find evidence for a radially varying disk LF, consistent with a negative metallicity gradient in the stellar disk.« less

Rouse mode analysis of chain relaxation in homopolymer melts

DOE PAGES

Kalathi, Jagannathan T.; Kumar, Sanat K.; Rubinstein, Michael; ...

2014-09-15

We use molecular dynamics simulations of the Kremer–Grest (KG) bead–spring model of polymer chains of length between 10 and 500, and a closely related analogue that allows for chain crossing, to clearly delineate the effects of entanglements on the length-scale-dependent chain relaxation in polymer melts. We analyze the resulting trajectories using the Rouse modes of the chains and find that entanglements strongly affect these modes. The relaxation rates of the chains show two limiting effective monomeric frictions, with the local modes experiencing much lower effective friction than the longer modes. The monomeric relaxation rates of longer modes vary approximately inverselymore » with chain length due to kinetic confinement effects. The time-dependent relaxation of Rouse modes has a stretched exponential character with a minimum of stretching exponent in the vicinity of the entanglement chain length. None of these trends are found in models that allow for chain crossing. As a result, these facts, in combination, argue for the confined motion of chains for time scales between the entanglement time and their ultimate free diffusion.« less

Thermal cracking of poly α-olefin aviation lubricating base oil

NASA Astrophysics Data System (ADS)

Fei, Yiwei; Wu, Nan; Ma, Jun; Hao, Jingtuan

2018-02-01

Thermal cracking of poly α-olefin (PAO) was conducted under different temperatures among 190 °C to 300 °C. The reacted mixtures were sequentially detected by gas chromatography-mass spectrometer (GC/MS). A series of small molecular normal alkanes, branched alkanes and olefins were identified. PAO perfect structure of aligned comb-likely side-chains has been seriously cracked under high temperatures. Property changes about kinematic viscosity and pour point of PAO samples reacted under high temperatures were also investigated. The appearance of small molecular compounds weakened the thermal stability, viscosity temperature performance and low temperature fluidity of PAO samples. Property of PAO samples was deteriorated due to thermal cracking under high temperatures.

Residue-Specific Side-Chain Polymorphisms via Particle Belief Propagation.

PubMed

Ghoraie, Laleh Soltan; Burkowski, Forbes; Li, Shuai Cheng; Zhu, Mu

2014-01-01

Protein side chains populate diverse conformational ensembles in crystals. Despite much evidence that there is widespread conformational polymorphism in protein side chains, most of the X-ray crystallography data are modeled by single conformations in the Protein Data Bank. The ability to extract or to predict these conformational polymorphisms is of crucial importance, as it facilitates deeper understanding of protein dynamics and functionality. In this paper, we describe a computational strategy capable of predicting side-chain polymorphisms. Our approach extends a particular class of algorithms for side-chain prediction by modeling the side-chain dihedral angles more appropriately as continuous rather than discrete variables. Employing a new inferential technique known as particle belief propagation, we predict residue-specific distributions that encode information about side-chain polymorphisms. Our predicted polymorphisms are in relatively close agreement with results from a state-of-the-art approach based on X-ray crystallography data, which characterizes the conformational polymorphisms of side chains using electron density information, and has successfully discovered previously unmodeled conformations.

Automatic airline baggage counting using 3D image segmentation

NASA Astrophysics Data System (ADS)

Yin, Deyu; Gao, Qingji; Luo, Qijun

2017-06-01

The baggage number needs to be checked automatically during baggage self-check-in. A fast airline baggage counting method is proposed in this paper using image segmentation based on height map which is projected by scanned baggage 3D point cloud. There is height drop in actual edge of baggage so that it can be detected by the edge detection operator. And then closed edge chains are formed from edge lines that is linked by morphological processing. Finally, the number of connected regions segmented by closed chains is taken as the baggage number. Multi-bag experiment that is performed on the condition of different placement modes proves the validity of the method.

Post pulse shutter for laser amplifier

DOEpatents

Bradley, Laird P. [Livermore, CA; Carder, Bruce M. [Antioch, CA; Gagnon, William L. [Berkeley, CA

1981-03-17

Apparatus and method for quickly closing off the return path for an amplified laser pulse at the output of an amplifier so as to prevent damage to amplifiers and other optical components appearing earlier in the chain by the return of an amplified pulse. The apparatus consists of a fast retropulse or post pulse shutter to suppress target reflection and/or beam return. This is accomplished by either quickly placing a solid across the light transmitting aperture of a component in the chain, such as a spatial filter pinhole, or generating and directing a plasma with sufficiently high density across the aperture, so as to, in effect, close the aperture to the returning amplified energy pulse.

Post pulse shutter for laser amplifier

DOEpatents

Bradley, L.P.; Carder, B.M.; Gagnon, W.L.

1981-03-17

Disclosed are an apparatus and method for quickly closing off the return path for an amplified laser pulse at the output of an amplifier so as to prevent damage to amplifiers and other optical components appearing earlier in the chain by the return of an amplified pulse. The apparatus consists of a fast retropulse or post pulse shutter to suppress target reflection and/or beam return. This is accomplished by either quickly placing a solid across the light transmitting aperture of a component in the chain, such as a spatial filter pinhole, or generating and directing a plasma with sufficiently high density across the aperture, so as to, in effect, close the aperture to the returning amplified energy pulse. 13 figs.

Linking matrices in systems with periodic boundary conditions

NASA Astrophysics Data System (ADS)

Panagiotou, Eleni; Millett, Kenneth C.

2018-06-01

We study the linking matrix, a measure of entanglement for a collection of closed or open chains in 3-space based on the Gauss linking number. Periodic boundary conditions (PBC) are often used in the simulation of physical systems of filaments. To measure entanglement of closed or open chains in systems employing PBC we use the periodic linking matrix, based on the periodic linking number, defined in Panagiotou (2015 J. Comput. Phys. 300 533–73). We study the properties of the periodic linking matrix as a function of cell size. We provide analytical results concerning the eigenvalues of the periodic linking matrix and show that some of them are invariant of cell-size.

Acute effects of different dynamic exercises on hamstring strain risk factors.

PubMed

Chen, Che Hsiu; Xin, Ye; Lee, Kuang Wu; Lin, Ming Ju; Lin, Jiu Jenq

2018-01-01

The purpose of the study was to examine the acute effects of different dynamic exercise interventions on hamstring muscle performance. Thirty-six young men with poor hamstring flexibility were randomly assigned to three intervention groups: jogging combined with dynamic open kinetic chain stretching (DS), jogging combined with dynamic closed kinetic chain stretching (lunge with eccentric hamstring windmills, LEC), and jogging only (CON) groups. Hamstring flexibility, muscle stiffness (area under the curve, AUC), joint position sense (JPS), maximal eccentric strength (ECC), and angle of peak torque (APT) were recorded before and immediately after the exercise interventions. The results showed that the hamstring flexibility increased in DS (p < 0.001); muscle stiffness decreased in DS and was lower than jogging (p < 0.001). Moreover, ECC increased in LEC and was higher than jogging and DS (p < 0.001). APT was different among 3 groups (p < 0.001). Decreased accuracy of JPS was found in DS and jogging (p < 0.001). In conclusion, the dynamic closed kinetic chain stretching (LEC) as compared to open kinetic chain stretching (DS) or jogging group, may be an effective technique to enhance muscle performance during the pre-competition warm-up routine.

Acute effects of different dynamic exercises on hamstring strain risk factors

PubMed Central

Xin, Ye; Lee, Kuang Wu; Lin, Ming Ju

2018-01-01

The purpose of the study was to examine the acute effects of different dynamic exercise interventions on hamstring muscle performance. Thirty-six young men with poor hamstring flexibility were randomly assigned to three intervention groups: jogging combined with dynamic open kinetic chain stretching (DS), jogging combined with dynamic closed kinetic chain stretching (lunge with eccentric hamstring windmills, LEC), and jogging only (CON) groups. Hamstring flexibility, muscle stiffness (area under the curve, AUC), joint position sense (JPS), maximal eccentric strength (ECC), and angle of peak torque (APT) were recorded before and immediately after the exercise interventions. The results showed that the hamstring flexibility increased in DS (p < 0.001); muscle stiffness decreased in DS and was lower than jogging (p < 0.001). Moreover, ECC increased in LEC and was higher than jogging and DS (p < 0.001). APT was different among 3 groups (p < 0.001). Decreased accuracy of JPS was found in DS and jogging (p < 0.001). In conclusion, the dynamic closed kinetic chain stretching (LEC) as compared to open kinetic chain stretching (DS) or jogging group, may be an effective technique to enhance muscle performance during the pre-competition warm-up routine. PMID:29390001

A molecular model for cohesive slip at polymer melt/solid interfaces.

PubMed

Tchesnokov, M A; Molenaar, J; Slot, J J M; Stepanyan, R

2005-06-01

A molecular model is proposed which predicts wall slip by disentanglement of polymer chains adsorbed on a wall from those in the polymer bulk. The dynamics of the near-wall boundary layer is found to be governed by a nonlinear equation of motion, which accounts for such mechanisms on surface chains as convection, retraction, constraint release, and thermal fluctuations. This equation is valid over a wide range of grafting regimes, including those in which interactions between neighboring adsorbed molecules become essential. It is not closed since the dynamics of adsorbed chains is shown to be coupled to that of polymer chains in the bulk via constraint release. The constitutive equations for the layer and bulk, together with continuity of stress and velocity, are found to form a closed system of equations which governs the dynamics of the whole "bulk+boundary layer" ensemble. Its solution provides a stick-slip law in terms of the molecular parameters and extruder geometry. The model is quantitative and contains only those parameters that can be measured directly, or extracted from independent rheological measurements. The model predictions show a good agreement with available experimental data.

Spin Order and Phase Transitions in Chains of Polariton Condensates.

PubMed

Ohadi, H; Ramsay, A J; Sigurdsson, H; Del Valle-Inclan Redondo, Y; Tsintzos, S I; Hatzopoulos, Z; Liew, T C H; Shelykh, I A; Rubo, Y G; Savvidis, P G; Baumberg, J J

2017-08-11

We demonstrate that multiply coupled spinor polariton condensates can be optically tuned through a sequence of spin-ordered phases by changing the coupling strength between nearest neighbors. For closed four-condensate chains these phases span from ferromagnetic (FM) to antiferromagnetic (AFM), separated by an unexpected crossover phase. This crossover phase is composed of alternating FM-AFM bonds. For larger eight-condensate chains, we show the critical role of spatial inhomogeneities and demonstrate a scheme to overcome them and prepare any desired spin state. Our observations thus demonstrate a fully controllable nonequilibrium spin lattice.

Simulation study of the initial crystallization processes of poly(3-hexylthiophene) in solution: ordering dynamics of main chains and side chains.

PubMed

Takizawa, Yuumi; Shimomura, Takeshi; Miura, Toshiaki

2013-05-23

We study the initial nucleation dynamics of poly(3-hexylthiophene) (P3HT) in solution, focusing on the relationship between the ordering process of main chains and that of side chains. We carried out Langevin dynamics simulation and found that the initial nucleation processes consist of three steps: the ordering of ring orientation, the ordering of main-chain vectors, and the ordering of side chains. At the start, the normal vectors of thiophene rings aligned in a very short time, followed by alignment of main-chain end-to-end vectors. The flexible side-chain ordering took almost 5 times longer than the rigid-main-chain ordering. The simulation results indicated that the ordering of side chains was induced after the formation of the regular stack structure of main chains. This slow ordering dynamics of flexible side chains is one of the factors that cause anisotropic nuclei growth, which would be closely related to the formation of nanofiber structures without external flow field. Our simulation results revealed how the combined structure of the planar and rigid-main-chain backbones and the sparse flexible side chains lead to specific ordering behaviors that are not observed in ordinary linear polymer crystallization processes.

DFT Modeling of Cross-Linked Polyethylene: Role of Gold Atoms and Dispersion Interactions.

PubMed

Blaško, Martin; Mach, Pavel; Antušek, Andrej; Urban, Miroslav

2018-02-08

Using DFT modeling, we analyze the concerted action of gold atoms and dispersion interactions in cross-linked polyethylene. Our model consists of two oligomer chains (PEn) with 7, 11, 15, 19, or 23 carbon atoms in each oligomer cross-linked with one to three Au atoms through C-Au-C bonds. In structures with a single gold atom the C-Au-C bond is located in the central position of the oligomer. Binding energies (BEs) with respect to two oligomer radical fragments and Au are as high as 362-489 kJ/mol depending on the length of the oligomer chain. When the dispersion contribution in PEn-Au-PEn oligomers is omitted, BE is almost independent of the number of carbon atoms, lying between 293 and 296 kJ/mol. The dispersion energy contributions to BEs in PEn-Au-PEn rise nearly linearly with the number of carbon atoms in the PEn chain. The carbon-carbon distance in the C-Au-C moiety is around 4.1 Å, similar to the bond distance between saturated closed shell chains in the polyethylene crystal. BEs of pure saturated closed shell PEn-PEn oligomers are 51-187 kJ/mol. Both Au atoms and dispersion interactions contribute considerably to the creation of nearly parallel chains of oligomers with reasonably high binding energies.

Thermodynamic characterization of the interaction behavior of a hydrophobically modified polyelectrolyte and oppositely charged surfactants in aqueous solution: effect of surfactant alkyl chain length.

PubMed

Bai, Guangyue; Nichifor, Marieta; Lopes, António; Bastos, Margarida

2005-01-13

We have used a precision isothermal titration microcalorimeter (ITC) to measure the enthalpy curves for the interaction of a hydrophobically modified polyelectrolyte (D40OCT30) with oppositely charged surfactants (SC(n)S) in aqueous solution. D40OCT30 is a newly synthesized polymer based on dextran having pendant N-(2-hydroxypropyl)-N,N-dimethyl-N-octylammonium chloride groups randomly distributed along the polymer backbone with degree of substitution of 28.1%. The employed anionic surfactants are sodium octyl sulfate (SC(8)S) and sodium tetradecyl sulfate (SC(14)S). Microcalorimetric results along with turbidity and kinematic viscosity measurements demonstrate systematically the thermodynamic characterization of the interaction of D40OCT30/SC(n)S. A three-dimensional diagram with the derived phase boundaries is drawn to describe the effect of the alkyl chain length of surfactant and of the ratio between surfactant and pendant groups on the interaction. A more complete picture of the interaction mechanism for D40OCT30/SC(n)S systems is proposed here.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kim, Doojin; Matchev, Konstantin T.; Moortgat, Filip

We consider SUSY-like events with two decay chains, each terminating in an invisible particle, whose true energy and momentum are not measured in the detector. Nevertheless, a useful educated guess about the invisible momenta can still be obtained by optimizing a suitable invariant mass function. We review and contrast several proposals in the literature for such ansatze: four versions of the M T 2-assisted on-shell reconstruction (MAOS), as well as several variants of the on-shell constrained M 2 variables. We compare the performance of these methods with regards to the mass determination of a new particle resonance along the decaymore » chain from the peak of the reconstructed invariant mass distribution. For concreteness, we consider the event topology of dilepton tt¯ events and study each of the three possible subsystems, in both a tt¯ and a SUSY example. We find that the M 2 variables generally provide sharper peaks and therefore better ansatze for the invisible momenta. We show that the performance can be further improved by preselecting events near the kinematic endpoint of the corresponding variable from which the momentum ansatz originates.« less

Swimming of a linear chain with a cargo in an incompressible viscous fluid with inertia

NASA Astrophysics Data System (ADS)

Felderhof, B. U.

2017-01-01

An approximation to the added mass matrix of an assembly of spheres is constructed on the basis of potential flow theory for situations where one sphere is much larger than the others. In the approximation, the flow potential near a small sphere is assumed to be dipolar, but near the large sphere it involves all higher order multipoles. The analysis is based on an exact result for the potential of a magnetic dipole in the presence of a superconducting sphere. Subsequently, the approximate added mass hydrodynamic interactions are used in a calculation of the swimming velocity and rate of dissipation of linear chain structures consisting of a number of small spheres and a single large one, with account also of frictional hydrodynamic interactions. The results derived for periodic swimming on the basis of a kinematic approach are compared with the bilinear theory, valid for small amplitude of stroke, and with the numerical solution of the approximate equations of motion. The calculations interpolate over the whole range of scale number between the friction-dominated Stokes limit and the inertia-dominated regime.

The effects of 6-week training programs on throwing accuracy, proprioception, and core endurance in baseball.

PubMed

Lust, Kathleen R; Sandrey, Michelle A; Bulger, Sean M; Wilder, Nathan

2009-08-01

With a limited number of outcomes-based studies, only recommendations for strength-training and rehabilitation programs can be made. To determine the extent to which throwing accuracy, core stability, and proprioception improved after completion of a 6-week training program that included open kinetic chain (OKC), closed kinetic chain (CKC), and/or core-stability exercises. A 2 x 3 factorial design. Division III college. 19 healthy baseball athletes with a control group of 15. Two 6-week programs including OKC, CKC, and core-stabilization exercises that were progressed each week. Functional throwing-performance index, closed kinetic chain upper extremity stability test, back-extensor test, 45 degrees abdominal-fatigue test, and right- and left-side bridging test. There was no significant difference between groups. An increase was evident in all pretest-to-posttest results, with improvement ranging from 1.36% to 140%. Both of the 6-week training programs could be used to increase throwing accuracy, core stability, and proprioception in baseball.

Kinetic chains: a review of the concept and its clinical applications.

PubMed

Karandikar, Ninad; Vargas, Oscar O Ortiz

2011-08-01

During the past decade, our understanding of biomechanics and its importance in rehabilitation has advanced significantly. The kinetic chain, a concept borrowed from engineering, has helped us better understand the underlying physiology of human movement. This understanding, in turn, has facilitated the development of new and more rational rehabilitation strategies. The kinetic chain concept has application in a wide spectrum of clinical conditions, including musculoskeletal medicine, sports medicine, and neurorehabilitation, as well as prosthetics and orthotics. The purpose of this review is to provide insights into the biomechanics related to the concept of kinetic chains, with a specific focus on closed kinetic chains and its clinical applications in rehabilitation. Copyright © 2011 American Academy of Physical Medicine and Rehabilitation. Published by Elsevier Inc. All rights reserved.

Effect of Chain Conformation on the Single-Molecule Melting Force in Polymer Single Crystals: Steered Molecular Dynamics Simulations Study.

PubMed

Feng, Wei; Wang, Zhigang; Zhang, Wenke

2017-02-28

Understanding the relationship between polymer chain conformation as well as the chain composition within the single crystal and the mechanical properties of the corresponding single polymer chain will facilitate the rational design of high performance polymer materials. Here three model systems of polymer single crystals, namely poly(ethylene oxide) (PEO), polyethylene (PE), and nylon-66 (PA66) have been chosen to study the effects of chain conformation, helical (PEO) versus planar zigzag conformation (PE, PA66), and chain composition (PE versus PA66) on the mechanical properties of a single polymer chain. To do that, steered molecular dynamics simulations were performed on those polymer single crystals by pulling individual polymer chains out of the crystals. Our results show that the patterns of force-extension curve as well as the chain moving mode are closely related to the conformation of the polymer chain in the single crystal. In addition, hydrogen bonds can enhance greatly the force required to stretch the polymer chain out of the single crystal. The dynamic breaking and reformation of multivalent hydrogen bonds have been observed for the first time in PA66 at the single molecule level.

An Adaptive Mesh Algorithm: Mapping the Mesh Variables

DOE Office of Scientific and Technical Information (OSTI.GOV)

Scannapieco, Anthony J.

2016-07-25

Both thermodynamic and kinematic variables must be mapped. The kinematic variables are defined on a separate kinematic mesh; it is the duel mesh to the thermodynamic mesh. The map of the kinematic variables is done by calculating the contributions of kinematic variables on the old thermodynamic mesh, mapping the kinematic variable contributions onto the new thermodynamic mesh and then synthesizing the mapped kinematic variables on the new kinematic mesh. In this document the map of the thermodynamic variables will be described.

A study on pricing decision of supply chain based on fairness concern

NASA Astrophysics Data System (ADS)

Yang, Hongxiong; Sun, Xiongle

2017-03-01

The fairness concern is introduced into a closed-loop supply chain, which includes a manufacturer and a retailer. This paper study the effect of fairness concern on wholesale price, retail price, recycling prices, manufacturer profits and retails profits under two situation: only the manufacturer is fairness concern and only the retailer is fairness concern. Studies show that: Retailer's fairness concern will reduce the price of the wholesale price, while the retail price and the recycling price unchanged, which led to the retailer to get more supply chain profits. Manufacturers' fairness concerns will raise the wholesale price, thereby increasing the manufacturer's supply chain profit, and the retailer's profit is compromised.

Analytical expressions for the closure probability of a stiff wormlike chain for finite capture radius.

PubMed

Guérin, T

2017-08-01

Estimating the probability that two monomers of the same polymer chain are close together is a key ingredient to characterize intramolecular reactions and polymer looping. In the case of stiff wormlike polymers (rigid fluctuating elastic rods), for which end-to-end encounters are rare events, we derive an explicit analytical formula for the probability η(r_{c}) that the distance between the chain extremities is smaller than some capture radius r_{c}. The formula is asymptotically exact in the limit of stiff chains, and it leads to the identification of two distinct scaling regimes for the closure factor, originating from a strong variation of the fluctuations of the chain orientation at closure. Our theory is compatible with existing analytical results from the literature that cover the cases of a vanishing capture radius and of nearly fully extended chains.

Ising Model on Tangled Chain, Some Thermodynamic Properties

NASA Astrophysics Data System (ADS)

Mejdani, R.

1996-09-01

In this paper we consider an Ising model on tangled chain, where some additional bonds compared to a pure Ising chain are presented. To understand the behavior of this system and the competition between ferromagnetic bonds J along the chain and antiferromagnetic bonds J' across the chain, we have studied in detail analytically and iteratively some of the thermodynamic quantities. Particularly interesting is, in the zero-field and zero-temperature limit, the behavior of the magnetization and the susceptibility closely related to the ground-state configurations and their degeneracies. This degeneracy, presented at the condition J' ≤ -J between J and J', explains, also, the existence of nonzero entropy at zero temperature. This model applied as a lattice gas model defined on a tangled chain could be also useful for the experimental investigations in studying the saturation curves for the enzyme kinetics or the melting curves for DNA-denaturation.

Precise structural analysis of α-helical polypeptide by quantum-chemical calculation related to reciprocal side-chain combination of two L-phenylalanine residues

NASA Astrophysics Data System (ADS)

Niimura, Subaru; Kurosu, Hiromichi; Shoji, Akira

2010-04-01

To clarify the positive role of side-chain conformation in the stability of protein secondary structure (main-chain conformation), we successfully calculated the optimization structure of a series of well-defined α-helical octadecapeptides composed of two L-phenylalanine (Phe) and 16 L-alanine (Ala) residues, based on the molecular orbital calculation with density functional theory (DFT/B3LYP/6-31G(d)). From the total energy calculation and the precise secondary structural analysis, we found that the conformational stability of the α-helix is closely related to the reciprocal side-chain combinations (such as positional relation and side-chain conformation) of two Phe residues in this system. Furthermore, we demonstrated that the 1H, 13C, 15N and 17O isotropic chemical shifts of each Phe residue depend on the respective side-chain conformations of the Phe residue.

Coordination and variability in the elite female tennis serve.

PubMed

Whiteside, David; Elliott, Bruce Clifford; Lay, Brendan; Reid, Machar

2015-01-01

Enhancing the understanding of coordination and variability in the tennis serve may be of interest to coaches as they work with players to improve performance. The current study examined coordinated joint rotations and variability in the lower limbs, trunk, serving arm and ball location in the elite female tennis serve. Pre-pubescent, pubescent and adult players performed maximal effort flat serves while a 22-camera 500 Hz motion analysis system captured three-dimensional body kinematics. Coordinated joint rotations in the lower limbs and trunk appeared most consistent at the time players left the ground, suggesting that they coordinate the proximal elements of the kinematic chain to ensure that they leave the ground at a consistent time, in a consistent posture. Variability in the two degrees of freedom at the elbow became significantly greater closer to impact in adults, possibly illustrating the mechanical adjustments (compensation) these players employed to manage the changing impact location from serve to serve. Despite the variable ball toss, the temporal composition of the serve was highly consistent and supports previous assertions that players use the location of the ball to regulate their movement. Future work should consider these associations in other populations, while coaches may use the current findings to improve female serve performance.

New field evidence for the emplacement of the Ronda peridotite

NASA Astrophysics Data System (ADS)

Bessière, Eloïse; Romagny, Adrien; Jolivet, Laurent; Augier, Romain; Savastano, Lucia

2017-04-01

The Betic-Rif orogen forms the westernmost part of the Alpine orogenic system and results from the closure of the Tethys Ocean between Africa and the Iberian Peninsula. Subduction and crustal thickening leading to the formation of high-pressure and low-temperature (HP/LT) metamorphic complexes were followed by a late-orogenic extension stage in an overall convergent setting. Plate kinematic reconstructions indeed reveal a continuous convergence between Africa and Eurasia from Late Cretaceous times currently characterized by slow convergence rates that add in complex ways with body forces stored during crustal thickening stages and subsequently released during crustal thinning. If this large-scale scenario is now broadly admitted, some first order questions remain opened. Among these questions, the timing and kinematics of the emplacement of the Ronda or Beni Bousera peridotite massifs remain particularly unclear. Due to the numerous published early Miocene ages, the emplacement of the Ronda or the Beni Bousera massifs is classically considered a very fast event before the high-temperature event. In this scenario, peridotite bodies are emplaced by overthrusting onto the continental crust within a compressional context. Based on new detailed field observations along the contact between the Ronda peridotites and the high-temperature continental basement and high-temperature marbles of the Dorsale Unit, as well as a metamorphic petrology approach, we reconsider this interpretation. We argue that this contact could instead be an early detachment, possibly active during the Mesozoic or before. A few old ages found in the western part of the chain could indeed be linked with such an episode of extreme thinning. This event is consistent with the opening of the Tethyan Ocean and associated with oceanization in the eastern part of the chain. In this work, we will argue for an emplacement as old as the Triassic, at least, thus much older than the Miocene thrusting event. This study is part of the Orogen Project, an academic-industrial collaboration between CNRS, BRGM and Total.

Package-X 2.0: A Mathematica package for the analytic calculation of one-loop integrals

NASA Astrophysics Data System (ADS)

Patel, Hiren H.

2017-09-01

This article summarizes new features and enhancements of the first major update of Package-X. Package-X 2.0 can now generate analytic expressions for arbitrarily high rank dimensionally regulated tensor integrals with up to four distinct propagators, each with arbitrary integer weight, near an arbitrary even number of spacetime dimensions, giving UV divergent, IR divergent, and finite parts at (almost) any real-valued kinematic point. Additionally, it can generate multivariable Taylor series expansions of these integrals around any non-singular kinematic point to arbitrary order. All special functions and abbreviations output by Package-X 2.0 support Mathematica's arbitrary precision evaluation capabilities to deal with issues of numerical stability. Finally, tensor algebraic routines of Package-X have been polished and extended to support open fermion chains both on and off shell. The documentation (equivalent to over 100 printed pages) is accessed through Mathematica's Wolfram Documentation Center and contains information on all Package-X symbols, with over 300 basic usage examples, 3 project-scale tutorials, and instructions on linking to FEYNCALC and LOOPTOOLS. Program files doi:http://dx.doi.org/10.17632/yfkwrd4d5t.1 Licensing provisions: CC by 4.0 Programming language: Mathematica (Wolfram Language) Journal reference of previous version: H. H. Patel, Comput. Phys. Commun 197, 276 (2015) Does the new version supersede the previous version?: Yes Summary of revisions: Extension to four point one-loop integrals with higher powers of denominator factors, separate extraction of UV and IR divergent parts, testing for power IR divergences, construction of Taylor series expansions of one-loop integrals, numerical evaluation with arbitrary precision arithmetic, manipulation of fermion chains, improved tensor algebraic routines, and much expanded documentation. Nature of problem: Analytic calculation of one-loop integrals in relativistic quantum field theory. Solution method: Passarino-Veltman reduction formula, Denner-Dittmaier reduction formulae, and additional algorithms described in the manuscript. Restrictions: One-loop integrals are limited to those involving no more than four denominator factors.

Linkage mechanisms in the vertebrate skull: Structure and function of three-dimensional, parallel transmission systems.

PubMed

Olsen, Aaron M; Westneat, Mark W

2016-12-01

Many musculoskeletal systems, including the skulls of birds, fishes, and some lizards consist of interconnected chains of mobile skeletal elements, analogous to linkage mechanisms used in engineering. Biomechanical studies have applied linkage models to a diversity of musculoskeletal systems, with previous applications primarily focusing on two-dimensional linkage geometries, bilaterally symmetrical pairs of planar linkages, or single four-bar linkages. Here, we present new, three-dimensional (3D), parallel linkage models of the skulls of birds and fishes and use these models (available as free kinematic simulation software), to investigate structure-function relationships in these systems. This new computational framework provides an accessible and integrated workflow for exploring the evolution of structure and function in complex musculoskeletal systems. Linkage simulations show that kinematic transmission, although a suitable functional metric for linkages with single rotating input and output links, can give misleading results when applied to linkages with substantial translational components or multiple output links. To take into account both linear and rotational displacement we define force mechanical advantage for a linkage (analogous to lever mechanical advantage) and apply this metric to measure transmission efficiency in the bird cranial mechanism. For linkages with multiple, expanding output points we propose a new functional metric, expansion advantage, to measure expansion amplification and apply this metric to the buccal expansion mechanism in fishes. Using the bird cranial linkage model, we quantify the inaccuracies that result from simplifying a 3D geometry into two dimensions. We also show that by combining single-chain linkages into parallel linkages, more links can be simulated while decreasing or maintaining the same number of input parameters. This generalized framework for linkage simulation and analysis can accommodate linkages of differing geometries and configurations, enabling novel interpretations of the mechanics of force transmission across a diversity of vertebrate feeding mechanisms and enhancing our understanding of musculoskeletal function and evolution. J. Morphol. 277:1570-1583, 2016. © 2016 Wiley Periodicals, Inc. © 2016 Wiley Periodicals, Inc.

Toward efficient aeroelastic energy harvesting through limit cycle shaping

NASA Astrophysics Data System (ADS)

Kirschmeier, Benjamin; Bryant, Matthew

2016-04-01

Increasing demand to harvest energy from renewable resources has caused significant research interest in unsteady aerodynamic and hydrodynamic phenomena. Apart from the traditional horizontal axis wind turbines, there has been significant growth in the study of bio-inspired oscillating wings for energy harvesting. These systems are being built to harvest electricity for wireless devices, as well as for large scale mega-watt power generation. Such systems can be driven by aeroelastic flutter phenomena which, beyond a critical wind speed, will cause the system to enter into limitcycle oscillations. When the airfoil enters large amplitude, high frequency motion, leading and trailing edge vortices form and, when properly synchronized with the airfoil kinematics, enhance the energy extraction efficiency of the device. A reduced order dynamic stall model is employed on a nonlinear aeroelastic structural model to investigate whether the parameters of a fully passive aeroelastic device can be tuned to produce limit cycle oscillations at desired kinematics. This process is done through an optimization technique to find the necessary structural parameters to achieve desired structural forces and moments corresponding to a target limit cycle. Structural nonlinearities are explored to determine the essential nonlinearities such that the system's limit cycle closely matches the desired kinematic trajectory. The results from this process demonstrate that it is possible to tune system parameters such that a desired limit cycle trajectory can be achieved. The simulations also demonstrate that the high efficiencies predicted by previous computational aerodynamics studies can be achieved in fully passive aeroelastic devices.

49 CFR 231.1 - Box and other house cars built or placed in service before October 1, 1966.

Code of Federal Regulations, 2013 CFR

2013-10-01

... and passing through the inside face of knuckle when closed with coupler horn against the buffer block... brake-shaft step which will permit the brake chain to drop under the brake shaft shall not be used. U...-eighths of an inch square. Square-fit taper, nominally 2 in 12 inches. (See plate A.) (vi) Brake chain...

49 CFR 231.1 - Box and other house cars built or placed in service before October 1, 1966.

Code of Federal Regulations, 2010 CFR

2010-10-01

... and passing through the inside face of knuckle when closed with coupler horn against the buffer block... brake-shaft step which will permit the brake chain to drop under the brake shaft shall not be used. U...-eighths of an inch square. Square-fit taper, nominally 2 in 12 inches. (See plate A.) (vi) Brake chain...

49 CFR 231.1 - Box and other house cars built or placed in service before October 1, 1966.

Code of Federal Regulations, 2011 CFR

2011-10-01

... and passing through the inside face of knuckle when closed with coupler horn against the buffer block... brake-shaft step which will permit the brake chain to drop under the brake shaft shall not be used. U...-eighths of an inch square. Square-fit taper, nominally 2 in 12 inches. (See plate A.) (vi) Brake chain...

49 CFR 231.1 - Box and other house cars built or placed in service before October 1, 1966.

Code of Federal Regulations, 2012 CFR

2012-10-01

... and passing through the inside face of knuckle when closed with coupler horn against the buffer block... brake-shaft step which will permit the brake chain to drop under the brake shaft shall not be used. U...-eighths of an inch square. Square-fit taper, nominally 2 in 12 inches. (See plate A.) (vi) Brake chain...

49 CFR 231.1 - Box and other house cars built or placed in service before October 1, 1966.

Code of Federal Regulations, 2014 CFR

2014-10-01

... and passing through the inside face of knuckle when closed with coupler horn against the buffer block... brake-shaft step which will permit the brake chain to drop under the brake shaft shall not be used. U...-eighths of an inch square. Square-fit taper, nominally 2 in 12 inches. (See plate A.) (vi) Brake chain...

From Comb-like Polymers to Bottle-Brushes

NASA Astrophysics Data System (ADS)

Liang, Heyi; Cao, Zhen; Dobrynin, Andrey; Sheiko, Sergei

We use a combination of the coarse-grained molecular dynamics simulations and scaling analysis to study conformations of bottle-brushes and comb-like polymers in a melt. Our analysis show that bottle-brushes and comb-like polymers can be in four different conformation regimes depending on the number of monomers between grafted side chains and side chain degree of polymerization. In loosely-grafted comb regime (LC) the degree of polymerization between side chains is longer than side chain degree of polymerization, such that the side chains belonging to the same macromolecule do not overlap. Crossover to a new densely-grafted comb regime (DC) takes place when side chains begin to overlap reducing interpenetration of side chains belonging to different macromolecules. In these two regimes both side-chains and backbone behave as unperturbed linear chains with the effective Kuhn length of the backbone being close to that of linear chain. Further decrease spacer degree of polymerization results in crossover to loosely-grafted bottle-brush regime (LB). In this regime, the bottle-brush backbone is stretched while the side-chains still maintain ideal chain conformation. Finally, for even shorter spacer between grafted side chains, which corresponds to densely-grafted bottle-brush regime (DB), the backbone adopts a fully extended chain conformation, and side-chains begin to stretch to maintain a constant monomer density. NSF DMR-1409710, DMR-1407645, DMR-1624569, DMR-1436201.

Spatiotemporally Resolved Acoustics in a Photoelastic Granular Material

NASA Astrophysics Data System (ADS)

Owens, Eli; Daniels, Karen

2010-03-01

In granular materials, stress transmission is manifested as force chains that propagate through the material in a branching structure. We send acoustic pulses into a two dimensional photoelastic granular material in which force chains are visible and investigate how the force chains influence the amplitude, speed, and dispersion of the sound waves. We observe particle scale dynamics using two methods, movies which provide spatiotemporally resolved measurements and accelerometers within individual grains. The movies allow us to visualize the sound's path through the material, revealing that the sound travels primarily along the force chains. Using the brightness of the photoelastic particles as a measure of the force chain strength, we observe that the sound travels both faster and at higher amplitude along the strong force chains. An exception to this trend is seen in transient force chains that only exist while the sound is closing particle contacts. We also measure the frequency dependence of the amplitude, speed, and dispersion of the sound wave.

Inclusive heavy flavor hadroproduction in NLO QCD: The exact analytic result

NASA Astrophysics Data System (ADS)

Czakon, M.; Mitov, A.

2010-01-01

We present the first exact analytic result for all partonic channels contributing to the total cross section for the production of a pair of heavy flavors in hadronic collisions in NLO QCD. Our calculation is a step in the derivation of the top quark pair production cross section at NNLO in QCD, which is a cornerstone of the precision LHC program. Our results uncover the analytical structures behind observables with heavy flavors at higher orders. They also reveal surprising and non-trivial implications for kinematics close to partonic threshold.

Analysis of turbulent heat transfer, mass transfer, and friction in smooth tubes at high Prandtl and Schmidt numbers

NASA Technical Reports Server (NTRS)

Deissler, Robert G

1955-01-01

The expression for eddy diffusivity from a previous analysis was modified in order to account for the effect of kinematic viscosity on the turbulence in the region close to a wall. By using the modified expression, good agreement was obtained between predicted and experimental results for heat and mass transfer at Prandtl and Schmidt numbers between 0.5 and 3000. The effects of length-to-diameter ratio and of variable viscosity were also investigated for a wide range of Prandtl numbers.

Precise science orbits for the Swarm satellite constellation

NASA Astrophysics Data System (ADS)

van den IJssel, Jose; Encarnação, João; Doornbos, Eelco; Visser, Pieter

2015-09-01

The European Space Agency (ESA) Swarm mission was launched on 22 November 2013 to study the dynamics of the Earth's magnetic field and its interaction with the Earth system. The mission consists of three identical satellites, flying in carefully selected near polar orbits. Two satellites fly almost side-by-side at an initial altitude of about 480 km, and will descend due to drag to around 300 km during the mission lifetime. The third satellite was placed in a higher orbit of about 530 km altitude, and therefore descends much more slowly. To geolocate the Swarm observations, each satellite is equipped with an 8-channel, dual-frequency GPS receiver for Precise Orbit Determination (POD). Onboard laser retroreflectors provide the opportunity to validate the orbits computed from the GPS observations using Satellite Laser Ranging (SLR) data. Precise Science Orbits (PSOs) for the Swarm satellites are computed by the Faculty of Aerospace Engineering at Delft University of Technology in the framework of the Swarm Satellite Constellation Application and Research Facility (SCARF). The PSO product consists of both a reduced-dynamic and a kinematic orbit solution. After a short description of the Swarm GPS data characteristics, the adopted POD strategy for both orbit types is explained and first PSO results from more than one year of Swarm GPS data are presented. Independent SLR validation shows that the reduced-dynamic Swarm PSOs have an accuracy of better than 2 cm, while the kinematic orbits have a slightly reduced accuracy of about 4-5 cm. Orbit comparisons indicate that the consistency between the reduced-dynamic and kinematic Swarm PSO for most parts of the Earth is at the 4-5 cm level. Close to the geomagnetic poles and along the geomagnetic equator, however, the kinematic orbits show larger errors, which are probably due to ionospheric scintillations that affect the Swarm GPS receivers over these areas.

Upper Limb Kinematics in Stroke and Healthy Controls Using Target-to-Target Task in Virtual Reality.

PubMed

Hussain, Netha; Alt Murphy, Margit; Sunnerhagen, Katharina S

2018-01-01

Kinematic analysis using virtual reality (VR) environment provides quantitative assessment of upper limb movements. This technique has rarely been used in evaluating motor function in stroke despite its availability in stroke rehabilitation. To determine the discriminative validity of VR-based kinematics during target-to-target pointing task in individuals with mild or moderate arm impairment following stroke and in healthy controls. Sixty-seven participants with moderate (32-57 points) or mild (58-65 points) stroke impairment as assessed with Fugl-Meyer Assessment for Upper Extremity were included from the Stroke Arm Longitudinal study at the University of Gothenburg-SALGOT cohort of non-selected individuals within the first year of stroke. The stroke groups and 43 healthy controls performed the target-to-target pointing task, where 32 circular targets appear one after the other and disappear when pointed at by the haptic handheld stylus in a three-dimensional VR environment. The kinematic parameters captured by the stylus included movement time, velocities, and smoothness of movement. The movement time, mean velocity, and peak velocity were discriminative between groups with moderate and mild stroke impairment and healthy controls. The movement time was longer and mean and peak velocity were lower for individuals with stroke. The number of velocity peaks, representing smoothness, was also discriminative and significantly higher in both stroke groups (mild, moderate) compared to controls. Movement trajectories in stroke more frequently showed clustering (spider's web) close to the target indicating deficits in movement precision. The target-to-target pointing task can provide valuable and specific information about sensorimotor impairment of the upper limb following stroke that might not be captured using traditional clinical scale. The trial was registered with register number NCT01115348 at clinicaltrials.gov, on May 4, 2010. URL: https://clinicaltrials.gov/ct2/show/NCT01115348.

The effects of localised fatigue on upper extremity jump shot kinematics and kinetics in team handball.

PubMed

Plummer, Hillary A; Oliver, Gretchen D

2017-01-01

Team handball is a popular sport worldwide that requires numerous throws to be made throughout the course of a game. Because of the upper extremity demands of repetitive throwing, it is possible that fatigue can alter the mechanics of a shot. The purpose of this study was to determine the influence of localised fatigue on jump shot kinematics and kinetics. Eleven male team handball players (23.1 ± 3.1 years; 185.1 ± 8.3 cm; 89.7 ± 12.2 kg) volunteered. An electromagnetic tracking system was used to examine the jump shot prior to and following localised fatigue. The fatiguing protocol consisted of throwing a 2.2 kg medicine ball into a rebounder until volitional fatigue. No significant kinematic or kinetic differences were observed following fatigue. Shoulder external rotation was -74.8 ± 14.9° prior to and -79.0 ± 14.7° following fatigue at MER. Scapula, external rotation at ball release (BR) prior to fatigue was -2.2 ± 7.0° and -3.2 ± 11.1° following fatigue. Scapular internal rotation, at maximum shoulder internal rotation (MIR), changed from 18.4 ± 11.2° to 20.4 ± 11.8°. Ball velocity decreased from19.8 m · s -1 to 18.8 m · s -1 (P = 0.12). Accuracy percentage in the pre-fatigue trials was 60.8 ± 14.1% and 52.8 ± 12.7% following fatigue (P = 0.20). While no significant changes were observed, it is possible that other fatiguing protocols that more closely represent the aerobic and throwing demands of the sport may have a greater effect on the kinematics and kinetics of the jump shot.

Distal radius fractures result in alterations in scapular kinematics: a three-dimensional motion analysis.

PubMed

Ayhan, Cigdem; Turgut, Elif; Baltaci, Gul

2015-03-01

Scapular motion is closely integrated with arm motion. Injury to a distal segment requires compensatory changes in the proximal segments leading to alterations in scapular motion. Since the effects of distal injuries on scapular kinematics remain unknown, in the present study we investigated the influences on scapular motion in patients with distal injuries. Sixteen subjects with a history of distal radius fracture and 20 asymptomatic healthy subjects (controls) participated in the study. Three-dimensional scapular and humeral kinematic data were collected on all 3 planes of shoulder elevation: frontal, sagittal, and scapular. All testing was performed in a single session; therefore, the sensors remained attached to the participants for all testing. The position and orientation data of the scapula at 30°, 60°, 90°, and 120° humerothoracic elevation and 120°, 90°, 60°, and 30° lowering were used for statistical comparisons. Independent samples t-test was used to compare the scapular internal/external rotation, upward/downward rotation, and anterior/posterior tilt between the affected side of subjects with a distal radius fracture and the dominant side of asymptomatic subjects at the same stage of humerothoracic elevation. Scapular internal rotation was significantly increased at 30° elevation (P=0.01), 90° elevation (P=0.03), and 30° lowering (P=0.03), and upward rotation was increased at 30° and 60° elevation (P<0.001) on the affected side during frontal plane elevation. Scapular upward rotation and anterior tilt were significantly increased during 30° lowering on both the scapular (P=0.002 and 0.02, respectively) and sagittal planes (P=0.01 and 0.02. respectively). Patients with distal radius fractures exhibit altered scapular kinematics, which may further contribute to the development of secondary musculoskeletal pathologies. Copyright © 2014 Elsevier Ltd. All rights reserved.

Structure of a seismogenic fault zone in dolostones: the Foiana Line (Italian Southern Alps)

NASA Astrophysics Data System (ADS)

Di Toro, G.; Fondriest, M.; Smith, S. A.; Aretusini, S.

2012-12-01

Fault zones in carbonate rocks (limestones and dolostones) represent significant upper crustal seismogenic sources in several areas worldwide (e.g. L'Aquila 2009 Mw = 6.3 in central Italy). Here we describe an exhumed example of a regionally-significant fault zone cutting dolostones. The Foiana Line (FL) is a major NNE-SSW-trending sinistral transpressive fault cutting sedimentary Triassic dolostones in the Italian Southern Alps. The FL has a cumulative vertical throw of 1.5-2 km that reduces toward its southern termination. The fault zone is 50-300 m wide and is exposed for ~ 10 km along strike within several outcrops exhumed from increasing depths from the south (1 km) to the north (2.5 km). The southern portion of the FL consists of heavily fractured (shattered) dolostones, with particles of a few millimeters in size (exposed in badlands topography over an area of 6 km2), cut by a dense network of 1-20 m long mirror-like fault surfaces with dispersed attitudes. The mirror-like faults have mainly dip-slip reverse kinematics and displacements ranging between 0.04 m and 0.5 m. The northern portion of the FL consists of sub-parallel fault strands spaced 2-5 m apart, surrounded by 2-3 m thick bands of shattered dolostones. The fault strands are characterized by smooth to mirror-like sub-vertical slip surfaces with dominant strike-slip kinematics. Overall, deformation is more localized moving from South to North along the FL. Mirror-like fault surfaces similar to those found in the FL were produced in friction experiments at the deformation conditions expected during seismic slip along the FL (Fondriest et al., this meeting). Scanning Electron Microscope investigations of the natural shattered dolostones beneath the mirror-like fault surfaces show: 1) lack of significant shear strain (even at a few micrometers from the slip surface), 2) pervasive extensional fracturing down to the micrometer scale, 3) exploded clasts with radial fractures, and 4) chains of split clasts (resulting from force chains) oriented at 60-80 degrees to the slip surfaces. Similar features have been reported in natural and experimental pulverized rocks, the latter produced under dynamic stress wave loading conditions. 3-Dimensional rupture simulations along strike-slip faults predict (1) off-fault damage distributions with "flower-like" shapes (broad damage zone near the surface that rapidly narrows with increasing confining pressure, e.g., Ma and Andrews, 2010) and (2) formation of secondary faults/fractures with disperse attitudes and kinematics near the surface, with horizontal slip at depth. Qualitatively, these theoretical results compare favorably with increasing strain localization and a switch in fault kinematics recognized along the FL moving from the southern, shallower portion of the fault zone to the northern, deeper portion. Observations along the FL suggest that the association of shattered dolostones and mirror-like slip surfaces might be a potential indicator of seismic rupture propagation. Further detailed structural mapping along the FL coupled with experimental work on rock pulverization will be necessary to understand rupture dynamics in dolostones.

BARTERING FOR A COMPATIBLE KIDNEY USING YOUR INCOMPATIBLE, LIVE KIDNEY DONOR: LEGAL AND ETHICAL ISSUES RELATED TO KIDNEY CHAINS.

PubMed

Tenenbaum, Evelyn M

2016-01-01

Kidney chains are a recent and novel method of increasing the number of available kidneys for transplantation and have the potential to save thousands of lives. However, because they are novel, kidney chains do not fit neatly within existing legal and ethicalframeworks, raising potential barriers to their full implementation. Kidney chains are an extension of paired kidney donation, which began in the United States in 2000. Paired kidney donations allow kidney patients with willing, but incompatible, donors to swap donors to increase the number of donor/recipient pairs and consequently, the number of transplants. More recently, transplant centers have been using non-simultaneous, extended, altruistic donor ("NEAD") kidney chains--which consist of a sequence of donations by incompatible donors--to further expand the number of donations. This Article fully explains paired kidney donation and kidney chains and focuses on whether NEAD chains are more coercive than traditional kidney donation to a family member or close friend and whether NEAD chains violate the National Organ Transplant Act's prohibition on the transfer of organs for valuable consideration.

A viscoplastic model with application to LiF-22 percent CaF2 hypereutectic salt

NASA Technical Reports Server (NTRS)

Freed, A. D.; Walker, K. P.

1990-01-01

A viscoplastic model for class M (metal-like behavior) materials is presented. One novel feature is its use of internal variables to change the stress exponent of creep (where n is approximately = 5) to that of natural creep (where n = 3), in accordance with experimental observations. Another feature is the introduction of a coupling in the evolution equations of the kinematic and isotropic internal variables, making thermal recovery of the kinematic variable implicit. These features enable the viscoplastic model to reduce to that of steady-state creep in closed form. In addition, the hardening parameters associated with the two internal state variables (one scalar-valued, the other tensor-valued) are considered to be functions of state, instead of being taken as constant-valued. This feature enables each internal variable to represent a much wider spectrum of internal states for the material. The model is applied to a LiF-22 percent CaF2 hypereutectic salt, which is being considered as a thermal energy storage material for space-based solar dynamic power systems.

A Kinematic, Flexure-based Mechanism for Precise, Parallel Motion for the Hertz Variable-delay Polarization Modulator (VPM)

NASA Technical Reports Server (NTRS)

Voellmer, G. M.; Chuss, D. T.; Jackson, M.; Krejny, M.; Moseley, S. H.; Novak, G.; Wollack, E. J.

2008-01-01

We describe the design of the linear motion stage for a Variable-delay Polarization Modulator (VPM) and of a grid flattener that has been built and integrated into the Hertz ground-based, submillimeter polarimeter. VPMs allow the modulation of a polarized source by controlling the phase difference between two linear, orthogonal polarizations. The size of the gap between a mirror and a very flat polarizing grid determines the amount of the phase difference. This gap must be parallel to better than 1% of the wavelength. A novel, kinematic, flexure-based mechanism is described that passively maintains the parallelism of the mirror and the grid to 1.5 pm over a 150 mm diameter, with a 400 pm throw. A single piezoceramic actuator is used to modulate the gap, and a capacitive sensor provides position feedback for closed-loop control. A simple device that ensures the planarity of the polarizing grid is also described. Engineering results from the deployment of this device in the Hertz instrument April 2006 at the Submillimeter Telescope Observatory (SMTO) in Arizona are presented.

Relationships between fractures

NASA Astrophysics Data System (ADS)

Peacock, D. C. P.; Sanderson, D. J.; Rotevatn, A.

2018-01-01

Fracture systems comprise many fractures that may be grouped into sets based on their orientation, type and relative age. The fractures are often arranged in a network that involves fracture branches that interact with one another. Interacting fractures are termed geometrically coupled when they share an intersection line and/or kinematically coupled when the displacements, stresses and strains of one fracture influences those of the other. Fracture interactions are characterised in terms of the following. 1) Fracture type: for example, whether they have opening (e.g., joints, veins, dykes), closing (stylolites, compaction bands), shearing (e.g., faults, deformation bands) or mixed-mode displacements. 2) Geometry (e.g., relative orientations) and topology (the arrangement of the fractures, including their connectivity). 3) Chronology: the relative ages of the fractures. 4) Kinematics: the displacement distributions of the interacting fractures. It is also suggested that interaction can be characterised in terms of mechanics, e.g., the effects of the interaction on the stress field. It is insufficient to describe only the components of a fracture network, with fuller understanding coming from determining the interactions between the different components of the network.

New Insights on Insect's Silent Flight. Part I: Vortex Dynamics and Wing Morphing

NASA Astrophysics Data System (ADS)

Ren, Yan; Liu, Geng; Dong, Haibo; Geng, Biao; Zheng, Xudong; Xue, Qian

2016-11-01

Insects are capable of conducting silent flights. This is attributed to its specially designed wing material properties for the control of vibration and surface morphing during the flapping flight. In current work, we focus on the roles of dynamic wing morphing on the unsteady vortex dynamics of a cicada in steady flight. A 3D image-based surface reconstruction method is used to obtain kinematical and morphological data of cicada wings from high-quality high-speed videos. The observed morphing wing kinematics is highly complex and a singular value decomposition method is used to decompose the wing motion to several dominant modes with distinct motion features. A high-fidelity immersed-boundary-based flow solver is then used to study the vortex dynamics in details. The results show that vortical structures closely relate to the morphing mode, which plays key role in the development and attachment of leading-edge vortex (LEV), thus helps the silent flapping of the cicada wings. This work is supported by AFOSR FA9550-12-1-0071 and NSF CBET-1313217.

One foot out the door: limb function during swimming in terrestrial versus aquatic turtles.

PubMed

Young, Vanessa K Hilliard; Vest, Kaitlyn G; Rivera, Angela R V; Espinoza, Nora R; Blob, Richard W

2017-01-01

Specialization for a new habitat often entails a cost to performance in the ancestral habitat. Although aquatic lifestyles are ancestral among extant cryptodiran turtles, multiple lineages, including tortoises (Testudinidae) and emydid box turtles (genus Terrapene), independently specialized for terrestrial habitats. To what extent is swimming function retained in such lineages despite terrestrial specialization? Because tortoises diverged from other turtles over 50 Ma, but box turtles did so only 5 Ma, we hypothesized that swimming kinematics for box turtles would more closely resemble those of aquatic relatives than those of tortoises. To test this prediction, we compared high-speed video of swimming Russian tortoises (Testudo horsfieldii), box turtles (Terrapene carolina) and two semi-aquatic emydid species: sliders (Trachemys scripta) and painted turtles (Chrysemys picta). We identified different kinematic patterns between limbs. In the forelimb, box turtle strokes most resemble those of tortoises; for the hindlimb, box turtles are more similar to semi-aquatic species. Such patterns indicate functional convergence of the forelimb of terrestrial species, whereas the box turtle hindlimb exhibits greater retention of ancestral swimming motions. © 2017 The Author(s).

A novel hybrid actuation mechanism based XY nanopositioning stage with totally decoupled kinematics

NASA Astrophysics Data System (ADS)

Zhu, Wu-Le; Zhu, Zhiwei; Guo, Ping; Ju, Bing-Feng

2018-01-01

This paper reports the design, analysis and testing of a parallel two degree-of-freedom piezo-actuated compliant stage for XY nanopositioning by introducing an innovative hybrid actuation mechanism. It mainly features the combination of two Scott-Russell and a half-bridge mechanisms for double-stage displacement amplification as well as moving direction modulation. By adopting the leaf-type double parallelogram (LTDP) structures at both input and output ends of the hybrid mechanism, the lateral stiffness and dynamic characteristics are significantly improved while the parasitic motions are greatly eliminated. The XY nanopositioning stage is constructed with two orthogonally configured hybrid mechanisms along with the LTDP mechanisms for totally decoupled kinematics at both input and output ends. An analytical model was established to describe the complete elastic deformation behavior of the stage, with further verification through the finite element simulation. Finally, experiments were implemented to comprehensively evaluate both the static and dynamic performances of the proposed stage. Closed-loop control of the piezoelectric actuators (PEA) by integrating strain gauges was also conducted to effectively eliminate the nonlinear hysteresis of the stage.

Investigation of Finite Sources through Time Reversal

NASA Astrophysics Data System (ADS)

Kremers, S.; Brietzke, G.; Igel, H.; Larmat, C.; Fichtner, A.; Johnson, P. A.; Huang, L.

2008-12-01

Under certain conditions time reversal is a promising method to determine earthquake source characteristics without any a-priori information (except the earth model and the data). It consists of injecting flipped-in-time records from seismic stations within the model to create an approximate reverse movie of wave propagation from which the location of the source point and other information might be inferred. In this study, the backward propagation is performed numerically using a spectral element code. We investigate the potential of time reversal to recover finite source characteristics (e.g., size of ruptured area, location of asperities, rupture velocity etc.). We use synthetic data from the SPICE kinematic source inversion blind test initiated to investigate the performance of current kinematic source inversion approaches (http://www.spice- rtn.org/library/valid). The synthetic data set attempts to reproduce the 2000 Tottori earthquake with 33 records close to the fault. We discuss the influence of relaxing the ignorance to prior source information (e.g., origin time, hypocenter, fault location, etc.) on the results of the time reversal process.

The effects of body properties on sand-swimming

NASA Astrophysics Data System (ADS)

Sharpe, Sarah; Kuckuk, Robyn; Koehler, Stephan; Goldman, Daniel

2014-03-01

Numerous animals locomote effectively within sand, yet few studies have investigated how body properties and kinematics contribute to subsurface performance. We compare the movement strategies of two desert dwelling subsurface sand-swimmers exhibiting disparate body forms: the long-slender limbless shovel-nosed snake (C. occipitalis) and the relatively shorter sandfish lizard (S. scincus). Both animals ``swim'' subsurface using a head-to-tail propagating wave of body curvature. We use a previously developed granular resistive force theory to successfully predict locomotion of performance of both animals; the agreement with theory implies that both animal's swim within a self-generated frictional fluid. We use theory to show that the snake's shape (body length to body radius ratio), low friction and undulatory gait are close to optimal for sand-swimming. In contrast, we find that the sandfish's shape and higher friction are farther from optimal and prevent the sandfish from achieving the same performance as the shovel-nosed snake during sand-swimming. However, the sandfish's kinematics allows it to operate at the highest performance possible given its body properties. NSF PoLS

Closed-loop neuromodulation of spinal sensorimotor circuits controls refined locomotion after complete spinal cord injury.

PubMed

Wenger, Nikolaus; Moraud, Eduardo Martin; Raspopovic, Stanisa; Bonizzato, Marco; DiGiovanna, Jack; Musienko, Pavel; Morari, Manfred; Micera, Silvestro; Courtine, Grégoire

2014-09-24

Neuromodulation of spinal sensorimotor circuits improves motor control in animal models and humans with spinal cord injury. With common neuromodulation devices, electrical stimulation parameters are tuned manually and remain constant during movement. We developed a mechanistic framework to optimize neuromodulation in real time to achieve high-fidelity control of leg kinematics during locomotion in rats. We first uncovered relationships between neuromodulation parameters and recruitment of distinct sensorimotor circuits, resulting in predictive adjustments of leg kinematics. Second, we established a technological platform with embedded control policies that integrated robust movement feedback and feed-forward control loops in real time. These developments allowed us to conceive a neuroprosthetic system that controlled a broad range of foot trajectories during continuous locomotion in paralyzed rats. Animals with complete spinal cord injury performed more than 1000 successive steps without failure, and were able to climb staircases of various heights and lengths with precision and fluidity. Beyond therapeutic potential, these findings provide a conceptual and technical framework to personalize neuromodulation treatments for other neurological disorders. Copyright © 2014, American Association for the Advancement of Science.

One foot out the door: limb function during swimming in terrestrial versus aquatic turtles

PubMed Central

Vest, Kaitlyn G.; Rivera, Angela R. V.; Espinoza, Nora R.; Blob, Richard W.

2017-01-01

Specialization for a new habitat often entails a cost to performance in the ancestral habitat. Although aquatic lifestyles are ancestral among extant cryptodiran turtles, multiple lineages, including tortoises (Testudinidae) and emydid box turtles (genus Terrapene), independently specialized for terrestrial habitats. To what extent is swimming function retained in such lineages despite terrestrial specialization? Because tortoises diverged from other turtles over 50 Ma, but box turtles did so only 5 Ma, we hypothesized that swimming kinematics for box turtles would more closely resemble those of aquatic relatives than those of tortoises. To test this prediction, we compared high-speed video of swimming Russian tortoises (Testudo horsfieldii), box turtles (Terrapene carolina) and two semi-aquatic emydid species: sliders (Trachemys scripta) and painted turtles (Chrysemys picta). We identified different kinematic patterns between limbs. In the forelimb, box turtle strokes most resemble those of tortoises; for the hindlimb, box turtles are more similar to semi-aquatic species. Such patterns indicate functional convergence of the forelimb of terrestrial species, whereas the box turtle hindlimb exhibits greater retention of ancestral swimming motions. PMID:28123109

Biomechanical study on axillary crutches during single-leg swing-through gait.

PubMed

Goh, J C; Toh, S L; Bose, K

1986-08-01

This paper describes a kinetic and kinematic study on axillary crutches during one-leg swing-through gait. The primary objective is to evaluate the interplay of forces at the crutch and body interfaces and to relate them in the understanding of problems associated with the use of axillary crutches. Ten normal adult male subjects with simulated left leg impairment participated in the study. For data acquisition, the VICON kinematic system, a Kistler force plate and an instrumented crutch (with force transducers at the two upper struts close to the axillary bar and one near the crutch tip) were used. Results showed that the peak ground reaction force on the weight-bearing leg during lower limb stance increased by 21.6 percent bodyweight. The peak reaction force transmitted to the arm during crutch stance was 44.4 percent bodyweight. These increased loadings could be detrimental to patients with unsound weight-bearing leg and upper extremities respectively. When the crutches were used incorrectly, 34 percent bodyweight was carried by the underarm. This could cause undue pressure over the neurovascular structures at the axillary region.

von Kármán–Howarth and Corrsin equations closure based on Lagrangian description of the fluid motion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Divitiis, Nicola de, E-mail: n.dedivitiis@gmail.com

A new approach to obtain the closure formulas for the von Kármán–Howarth and Corrsin equations is presented, which is based on the Lagrangian representation of the fluid motion, and on the Liouville theorem associated to the kinematics of a pair of fluid particles. This kinematics is characterized by the finite scale separation vector which is assumed to be statistically independent from the velocity field. Such assumption is justified by the hypothesis of fully developed turbulence and by the property that this vector varies much more rapidly than the velocity field. This formulation leads to the closure formulas of von Kármán–Howarthmore » and Corrsin equations in terms of longitudinal velocity and temperature correlations following a demonstration completely different with respect to the previous works. Some of the properties and the limitations of the closed equations are discussed. In particular, we show that the times of evolution of the developed kinetic energy and temperature spectra are finite quantities which depend on the initial conditions.« less

Connecting Clump Sizes in Turbulent Disk Galaxies to Instability Theory

NASA Astrophysics Data System (ADS)

Fisher, David B.; Glazebrook, Karl; Abraham, Roberto G.; Damjanov, Ivana; White, Heidi A.; Obreschkow, Danail; Basset, Robert; Bekiaris, Georgios; Wisnioski, Emily; Green, Andy; Bolatto, Alberto D.

2017-04-01

In this letter we study the mean sizes of Hα clumps in turbulent disk galaxies relative to kinematics, gas fractions, and Toomre Q. We use ˜100 pc resolution HST images, IFU kinematics, and gas fractions of a sample of rare, nearby turbulent disks with properties closely matched to z˜ 1.5{--}2 main-sequence galaxies (the DYNAMO sample). We find linear correlations of normalized mean clump sizes with both the gas fraction and the velocity dispersion-to-rotation velocity ratio of the host galaxy. We show that these correlations are consistent with predictions derived from a model of instabilities in a self-gravitating disk (the so-called “violent disk instability model”). We also observe, using a two-fluid model for Q, a correlation between the size of clumps and self-gravity-driven unstable regions. These results are most consistent with the hypothesis that massive star-forming clumps in turbulent disks are the result of instabilities in self-gravitating gas-rich disks, and therefore provide a direct connection between resolved clump sizes and this in situ mechanism.

The Life Cycle Evaluation Model of External Diseconomy of Open-loop Supply Chain

NASA Astrophysics Data System (ADS)

Liu, Qian; Hu, Tianjun

2017-08-01

In recent years, with the continuous deterioration of pollution, resource space is gradually narrowed, the number of waste items increased, people began to use the method of recycling on waste products to ease the pressure on the environment. This paper adopted the external diseconomy of open-loop supply chain as the research object and constructed the model by the life cycle evaluation method, comparative analysis through the case. This paper also concludes that the key to solving the problem is to realize the closed-loop supply chain and building reverse logistics system is of great significance.

Markov Chain Model with Catastrophe to Determine Mean Time to Default of Credit Risky Assets

NASA Astrophysics Data System (ADS)

Dharmaraja, Selvamuthu; Pasricha, Puneet; Tardelli, Paola

2017-11-01

This article deals with the problem of probabilistic prediction of the time distance to default for a firm. To model the credit risk, the dynamics of an asset is described as a function of a homogeneous discrete time Markov chain subject to a catastrophe, the default. The behaviour of the Markov chain is investigated and the mean time to the default is expressed in a closed form. The methodology to estimate the parameters is given. Numerical results are provided to illustrate the applicability of the proposed model on real data and their analysis is discussed.

Construction of a novel Mo/Cu/S cluster with a closed double-cubane-like polyhedron and a chain polymer of W/Cu/S clusters.

PubMed

Li, Zhihua; Du, Shaowu; Wu, Xintao

2004-08-09

Reaction of [MoOS(3)](2)(-) and [WS(4)](2)(-) with Cudtp (dtp = diethyl dithiophosphate) gave rise to the clusters [Bu(4)N](2)[(MoOS(3))(4)Cu(12)(dtp)(6)], 1, and [Et(4)N][(WS(4)Cu(4))(dtp)(3)], 2, respectively. In cluster 1, the dtp- ligands act as both monodentate and bidentate ligands that bridge between Cu atoms and link together a closed double-cubane-like [Mo(2)O(2)S(6)Cu(6)](2+) core and two incomplete cubane-like [MoOS(3)Cu(3)]+ units. In cluster 2, the [WS(4)Cu(4)](2+) fragments were connected via bidentate and doubly bridging dtp- bridges to give a chain polymeric anion. Cluster 1 is the first example of a Mo/Cu/S cluster that contains a closed double-cubane-like structure. Compound 2 is also rare and the first W/Cu/S polymer with dtp- linkages.

A closed life-support system for space colonies

NASA Technical Reports Server (NTRS)

Johnson, R. D.; Jebens, H. J.; Sweet, H. C.

1977-01-01

In 1975, a system design study was performed to examine a completely self-contained system for a permanent colony of 10,000 inhabitants in space. Fundamental to this design was the life support system. Since resupply from earth is prohibitive in transportation costs, it was decided to use a closed system with the initial supply of oxygen coming from processing of lunar ores, and the supply of carbon, nitrogen and hydrogen from earth. The problem of life support was treated starting with the nutritional and metabolic requirements for the human population, creating a food and water chain sufficient to supply these demands, adding the additional requirements for the animal and plant sources in the food chain, feeding back useful waste products, supplying water as required from different sources, and closing the loop by processing organic wastes into CO2. This concept places the burden of the system upon plants for O2 generation and waste processing the CO2 generation.

Embryonic wound healing by apical contraction and ingression in Xenopus laevis.

PubMed

Davidson, Lance A; Ezin, Akouavi M; Keller, Ray

2002-11-01

We have characterized excisional wounds in the animal cap of early embryos of the frog Xenopus laevis and found that these wounds close accompanied by three distinct processes: (1) the assembly of an actin purse-string in the epithelial cells at the wound margin, (2) contraction and ingression of exposed deep cells, and (3) protrusive activity of epithelial cells at the margin. Microsurgical manipulation allowing fine control over the area and depth of the wound combined with videomicroscopy and confocal analysis enabled us to describe the kinematics and challenge the mechanics of the closing wound. Full closure typically occurs only when the deep, mesenchymal cell-layer of the ectoderm is left intact; in contrast, when deep cells are removed along with the superficial, epithelial cell-layer of the ectoderm, wounds do not close. Actin localizes to the superficial epithelial cell-layer at the wound margin immediately after wounding and forms a contiguous "purse-string" in those cells within 15 min. However, manipulation and closure kinematics of shaped wounds and microsurgical cuts made through the purse-string rule out a major force-generating role for the purse-string. Further analysis of the cell behaviors within the wound show that deep, mesenchymal cells contract their apical surfaces and ingress from the exposed surface. High resolution time-lapse sequences of cells at the leading edge of the wound show that these cells undergo protrusive activity only during the final phases of wound closure as the ectoderm reseals. We propose that assembly of the actin purse-string works to organize and maintain the epithelial sheet at the wound margin, that contraction and ingression of deep cells pulls the wound margins together, and that protrusive activity of epithelial cells at the wound margin reseals the ectoderm and re-establishes tissue integrity during wound healing in the Xenopus embryonic ectoderm. Copyright 2002 Wiley-Liss, Inc.

Correlation of physical properties with molecular structure for some dicyclic hydrocarbons having high thermal-energy release per unit volume -- 2-alkylbiphenyl and the two isomeric 2-alkylbicyclohexyl series

NASA Technical Reports Server (NTRS)

Goodman, Irving A; Wise, Paul H

1952-01-01

Three homologous series of related dicyclic hydrocarbons are presented for comparison on the basis of their physical properties, which include net heat of combustion, density, melting point, boiling point, and kinematic viscosity. The three series investigated include the 2-n-alkylbiphenyl, 2-n-alkylbicyclohexyl (high boiling), and 2-n-alkylbiphenyls (low boiling) series through c sub 16, in addition to three branched-chain (isopropyl, sec-butyl, and isobutyl) 2-alkylbiphenyls and their corresponding 2-alkylbicyclohexyls. The physical properties of the low-boiling and high-boiling isomers of 2-sec-butylbicyclohexyl and 2-isobutylbicyclohexyl are reported herein for the first time.

Modeling and simulation of five-axis virtual machine based on NX

NASA Astrophysics Data System (ADS)

Li, Xiaoda; Zhan, Xianghui

2018-04-01

Virtual technology in the machinery manufacturing industry has shown the role of growing. In this paper, the Siemens NX software is used to model the virtual CNC machine tool, and the parameters of the virtual machine are defined according to the actual parameters of the machine tool so that the virtual simulation can be carried out without loss of the accuracy of the simulation. How to use the machine builder of the CAM module to define the kinematic chain and machine components of the machine is described. The simulation of virtual machine can provide alarm information of tool collision and over cutting during the process to users, and can evaluate and forecast the rationality of the technological process.

Current problems in the dynamics and design of mechanisms and machines

NASA Astrophysics Data System (ADS)

Kestel'Man, V. N.

The papers contained in this volume deal with possible ways of improving the dynamic and structural properties of machines and mechanisms and also with problems associated with the design of aircraft equipment. Topics discussed include estimation of the stressed state of a model of an orbital film structure, a study of the operation of an aerodynamic angle transducer in flow of a hot gas, calculation of the efficiency of aircraft gear drives, and dynamic accuracy of a controlled manipulator. Papers are also presented on optimal synthesis of mechanical systems with variable properties, synthesis of mechanisms using initial kinematic chains, and using shape memory materials in the design of machines and mechanisms. (For individual items see A93-31202 to A93-31214)

Understanding a Value Chain in Health Care.

PubMed

Sharan, Alok D; Schroeder, Gregory D; West, Michael E; Vaccaro, Alexander R

2015-10-01

As the US health care system transitions toward a value-based system, providers and health care organizations will have to closely scrutinize their current processes of care. To do this, a value chain analysis can be performed to ensure that only the most efficient steps are followed in patient care. Ultimately this will produce a higher quality or equal quality product for less cost by eliminating wasteful steps along the way.

Markov Chain Models for Stochastic Behavior in Resonance Overlap Regions

NASA Astrophysics Data System (ADS)

McCarthy, Morgan; Quillen, Alice

2018-01-01

We aim to predict lifetimes of particles in chaotic zoneswhere resonances overlap. A continuous-time Markov chain model isconstructed using mean motion resonance libration timescales toestimate transition times between resonances. The model is applied todiffusion in the co-rotation region of a planet. For particles begunat low eccentricity, the model is effective for early diffusion, butnot at later time when particles experience close encounters to the planet.

Open versus closed kinetic chain exercises for patellar chondromalacia.

PubMed

Bakhtiary, A H; Fatemi, E

2008-02-01

Conservative treatment of patellar chondromalacia has been the subject of several studies. One recommended treatment is a strengthening exercise of the quadriceps muscle, which may be performed in closed or open kinetic chains. This study was designed to compare the effect of straight leg raise (SLR) and semi-squat exercises on the treatment of patellar chondromalacia, which has not been done to date. 32 female university students with a diagnosis of patellar chondromalacia were randomly assigned to two experimental groups: SLR and semi-squat exercise. Before starting exercise protocols, Q angle, maximal isometric voluntary contraction force (MIVCF) of quadriceps, crepitation, circumference of thigh 5 and 10 cm above the patella and patellofemoral pain according to the visual analogue scale (VAS) were assessed. Both groups then followed a 3-week programme of quadriceps muscle strengthening exercises (SLR or semi-squat) starting with 20 exercises twice a day and increasing each session by 5 exercises every 2 days. All measurements were repeated at the end of each week and then again 2 weeks after the 3-week exercise programme. Reduced Q angle (mean differences (SD) 0.8 (0.3), p = 0.016) and crepitation (19.9 (8.5), p = 0.04), and an increase in the MIVCF of the quadriceps (15.8 (5.6), p = 0.01) and thigh circumference (1.5 (0.3), p = 0.001) were found in semi-squat group compared with SLR group. However, patellofemoral pain was decreased significantly in both groups. The results of this study indicate that semi-squat exercises (closed kinetic chain) are more effective than SLR exercise (open kinetic chain) in the treatment of patellar chondromalacia. More studies are needed to investigate the long-term effect of these types of exercise.

RESONANT CLUMPING AND SUBSTRUCTURE IN GALACTIC DISKS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Molloy, Matthew; Smith, Martin C.; Shen, Juntai

2015-05-10

We describe a method to extract resonant orbits from N-body simulations, exploiting the fact that they close in frames rotating with a constant pattern speed. Our method is applied to the N-body simulation of the Milky Way by Shen et al. This simulation hosts a massive bar, which drives strong resonances and persistent angular momentum exchange. Resonant orbits are found throughout the disk, both close to the bar and out to the very edges of the disk. Using Fourier spectrograms, we demonstrate that the bar is driving kinematic substructure even in the very outer parts of the disk. We identifymore » two major orbit families in the outskirts of the disk, one of which makes significant contributions to the kinematic landscape, namely, the m:l = 3:−2 family, resonating with the bar. A mechanism is described that produces bimodal distributions of Galactocentric radial velocities at selected azimuths in the outer disk. It occurs as a result of the temporal coherence of particles on the 3:−2 resonant orbits, which causes them to arrive simultaneously at pericenter or apocenter. This resonant clumping, due to the in-phase motion of the particles through their epicycle, leads to both inward and outward moving groups that belong to the same orbital family and consequently produce bimodal radial velocity distributions. This is a possible explanation of the bimodal velocity distributions observed toward the Galactic anticenter by Liu et al. Another consequence is that transient overdensities appear and dissipate (in a symmetric fashion), resulting in a periodic pulsing of the disk’s surface density.« less

The emission-line regions in the nucleus of NGC 1313 probed with GMOS-IFU: a supergiant/hypergiant candidate and a kinematically cold nucleus

NASA Astrophysics Data System (ADS)

Menezes, R. B.; Steiner, J. E.

2017-04-01

NGC 1313 is a bulgeless nearby galaxy, classified as SB(s)d. Its proximity allows high spatial resolution observations. We performed the first detailed analysis of the emission-line properties in the nuclear region of NGC 1313, using an optical data cube obtained with the Gemini Multi-object Spectrograph. We detected four main emitting areas, three of them (regions 1, 2 and 3) having spectra typical of H II regions. Region 1 is located very close to the stellar nucleus and shows broad spectral features characteristic of Wolf-Rayet stars. Our analysis revealed the presence of one or two WC4-5 stars in this region, which is compatible with results obtained by previous studies. Region 4 shows spectral features (as a strong Hα emission line, with a broad component) typical of a massive emission-line star, such as a luminous blue variable, a B[e] supergiant or a B hypergiant. The radial velocity map of the ionized gas shows a pattern consistent with rotation. A significant drop in the values of the gas velocity dispersion was detected very close to region 1, which suggests that the young stars there were formed from this cold gas, possibly keeping low values of velocity dispersion. Therefore, although detailed measurements of the stellar kinematics were not possible (due to the weak stellar absorption spectrum of this galaxy), we predict that NGC 1313 may also show a drop in the values of the stellar velocity dispersion in its nuclear region.

Comparison of the Kinematic Patterns of Kick Between Brazilian and Japanese Young Soccer Players

PubMed Central

Pereira Santiago, Paulo Roberto; Palucci Vieira, Luiz Henrique; Barbieri, Fabio Augusto; Moura, Felipe Arruda; Exel Santana, Juliana; de Andrade, Vitor Luiz; de Souza Bedo, Bruno Luiz; Cunha, Sergio Augusto

2016-01-01

Background Kicking performance is the most studied technical action in soccer and lower limbs kinematics is closely related to success in kicking, mainly because they are essential in imparting high velocity to the ball. Previous studies demonstrated that soccer leagues in different countries exhibit different physical demands and technical requirements during the matches. However, evidencewhether nationality has any influence in the kinematics of soccer-related skills has not yet been reported. The nationality of the players is an aspect that might be also relevant to the performance in kicking. Objectives The aim of this study was to compare the lower limbs kinematic patterns during kicking, between Brazilian and Japanese young top soccer players. Patients and Methods Seven Brazilian (GA) and seven Japanese (GB) U-17 players performed 15 side-foot kicks each, with a distance of 20 m away from the goal, aiming a target of 1 × 1 m in upper corner, constrained by a defensive wall (1.8 × 2 m). Four digital video cameras (120 Hz) recorded the performance for further 3D reconstruction of thigh, shank and foot segments of both kicking and support limbs. The selected kicking cycle was characterized by the toe-off of the kicking limb to the end of the kicking foot when it came in contact with the ball. Stereographical projection of each segment was applied to obtain the representative curves of kicking as function of time for each participant in each trial. Cluster analysis was performed to identify the mean GA and GB curves for each segment. Silhouette coefficient (SC) was calculated, in order to determine the degree of separation between the two groups’ curves. Results Comparison between the median confidence intervals of the SC showed no differences between groups as regards lower limb patterns of movements. Task accuracy was determined by the relative frequency that the ball reached the target for all attempts and no differences were found (GA: 10.48 ± 14.33%; GB: 9.52 ± 6.51%; P = 0.88). Conclusions We conclude that lower limb kinematic patterns, in support and ball contact phases, are similar in young Brazilian and Japanese soccer players during free kicks when adopting the side-foot kick style. PMID:27625761

Porphyry copper deposits distribution along the western Tethyan and Andean subductions: insights from a paleogeographic approach

NASA Astrophysics Data System (ADS)

Bertrand, G.

2012-12-01

The genesis of many types of mineral deposits is closely linked to tectonic and petrographic conditions resulting from specific geodynamic contexts. Porphyry deposits, for instance, are associated to calc-alkaline magmatism of subduction zones. In order to better understand the relationships between ore deposit distribution and their tectonic context, and help identifying geodynamic-related criteria of favorability that would, in turn, help mineral exploration, we propose a paleogeographic approach. Paleogeographic reconstructions, based on global or regional plate tectonic models, are crucial tools to assess tectonic and kinematic contexts of the past. We use this approach to study the distribution of porphyry copper deposits along the western Tethyan and Andean subductions since Lower Cretaceous and Paleocene, respectively. For both convergent contexts, databases of porphyry copper deposits, including, among other data, their age and location, were compiled. Spatial and temporal distribution of the deposits is not random and show that they were emplaced in distinct clusters. Five clusters are identified along the western Tethyan suture, from Lower Cretaceous to Pleistocene, and at least three along the Andes, from Paleocene to Miocene. Two clusters in the Aegean-Balkan-Carpathian area, that were emplaced in Upper Cretaceous and Oligo-Miocene, and two others in the Andes, that were emplaced in late Eocene and Miocene, are studied in details and correlated with the past kinematics of the Africa-Eurasia and Nazca-South America plate convergences, respectively. All these clusters are associated with a similar polyphased kinematic context that is closely related to the dynamics of the subductions. This context is characterized by 1) a relatively fast convergence rate, shortly followed by 2) a drastic decrease of this rate. To explain these results, we propose a polyphased genetic model for porphyry copper deposits with 1) a first stage of rapid subduction rate, favoring high melt production in the mantle wedge, by dehydration of the subducted oceanic crust, and increased influx of mafic magmas in the MASH (Melting, Assimilation, Storage, Homogenization) zone, and 2) a subsequent significant decrease in subduction rate, favoring extensional regime within the upper plate and easing upward migration of fertile magmas to the upper crust. This second effect seems to be confirmed in the Aegean-Balkan-Carpathian area where the two clusters are spatially and temporally correlated with known extensional regimes. Although preliminary, these results highlight the control of the geodynamic context, and especially the subduction kinematics, on the spatial and temporal distribution of porphyry copper deposits. This study also confirms that the paleogeographic approach is a promising tool that could help identifying geodynamic and tectonic criteria favoring the genesis of various ore deposit types. Correlatively, ore deposits may be considered, in future studies, as possible markers of past geodynamic contexts.

a Multi Objective Model for Optimization of a Green Supply Chain Network

NASA Astrophysics Data System (ADS)

Paksoy, Turan; Özceylan, Eren; Weber, Gerhard-Wilhelm

2010-06-01

This study develops a model of a closed-loop supply chain (CLSC) network which starts with the suppliers and recycles with the decomposition centers. As a traditional network design, we consider minimizing the all transportation costs and the raw material purchasing costs. To pay attention for the green impacts, different transportation choices are presented between echelons according to their CO2 emissions. The plants can purchase different raw materials in respect of their recyclable ratios. The focuses of this paper are conducting the minimizing total CO2 emissions. Also we try to encourage the customers to use recyclable materials as an environmental performance viewpoint besides minimizing total costs. A multi objective linear programming model is developed via presenting a numerical example. We close the paper with recommendations for future researches.

A closed-loop supply chain inventory model for manufacturer - Collector system with inspection, waste disposal and price-quality dependent return rate

NASA Astrophysics Data System (ADS)

Putri, Anissa Rianda; Jauhari, Wakhid Ahmad; Rosyidi, Cucuk Nur

2017-11-01

This paper studies a closed-loop supply chain inventory model, where the primary market demand is fulfilled by newly produced products and remanufactured products. We intend to integrate a manufacturer and a collector as a supply chain system. Used items are collected and will be inspected and sorted by the collector, and the return rate of used items is depended upon price and quality factor. Used items that aren't pass this process, will be considered as waste and undergone waste disposal process. Recoverable used items will be sent to the manufacturer for recovery process. This paper applies two types of the recovery process for used products, i.e. remanufacture and refurbish. The refurbished items are sold to a secondary market with lower price than primary market price. Further, the amount of recoverable items depend upon the acceptance level of the returned items. This proposed model gives an optimal solution by maximizing the joint total profit. Moreover, a numerical example is presented to describe the application of the model.

Numerical study of two disks settling in an Oldroyd-B fluid: From periodic interaction to chaining

NASA Astrophysics Data System (ADS)

Pan, Tsorng-Whay; Glowinski, Roland

2017-12-01

In this article, we present a numerical study of the dynamics of two disks sedimenting in a narrow vertical channel filled with an Oldroyd-B fluid. Two kinds of particle dynamics are observed: (i) a periodic interaction between the two disks, and (ii) the formation of a two-disk chain. For the periodic interaction of the two disks, two different motions are observed: (a) the two disks stay far apart and interact periodically, and (b) the two disks interact closely and then far apart in a periodic way, like the drafting, kissing, and tumbling of two disks sedimenting in a Newtonian fluid, due to a weak elastic force. Concerning the formation of a two-disk chain occurring at higher values of the elasticity number, either a tilted chain or a vertical chain is observed. Our simulations show that, as expected, the values of the elasticity and Mach numbers are the determining factors concerning the particle chain formation and its orientation.

Numerical study of two disks settling in an Oldroyd-B fluid: From periodic interaction to chaining.

PubMed

Pan, Tsorng-Whay; Glowinski, Roland

2017-12-01

In this article, we present a numerical study of the dynamics of two disks sedimenting in a narrow vertical channel filled with an Oldroyd-B fluid. Two kinds of particle dynamics are observed: (i) a periodic interaction between the two disks, and (ii) the formation of a two-disk chain. For the periodic interaction of the two disks, two different motions are observed: (a) the two disks stay far apart and interact periodically, and (b) the two disks interact closely and then far apart in a periodic way, like the drafting, kissing, and tumbling of two disks sedimenting in a Newtonian fluid, due to a weak elastic force. Concerning the formation of a two-disk chain occurring at higher values of the elasticity number, either a tilted chain or a vertical chain is observed. Our simulations show that, as expected, the values of the elasticity and Mach numbers are the determining factors concerning the particle chain formation and its orientation.

Molecular Dynamics Simulations of Adsorption of Poly(acrylic acid) and Poly(methacrylic acid) on Dodecyltrimethylammonium Chloride Micelle in Water: Effect of Charge Density.

PubMed

Sulatha, Muralidharan S; Natarajan, Upendra

2015-09-24

We have investigated the interaction of dodecyltrimethylammonium chloride (DoTA) micelle with weak polyelectrolytes, poly(acrylic acid) and poly(methacrylic acid). Anionic as well as un-ionized forms of the polyelectrolytes were studied. Polyelectrolyte-surfactant complexes were formed within 5-11 ns of the simulation time and were found to be stable. Association is driven purely by electrostatic interactions for anionic chains whereas dispersion interactions also play a dominant role in the case of un-ionized chains. Surfactant headgroup nitrogen atoms are in close contact with the carboxylic oxygens of the polyelectrolyte chain at a distance of 0.35 nm. In the complexes, the polyelectrolyte chains are adsorbed on to the hydrophilic micellar surface and do not penetrate into the hydrophobic core of the micelle. Polyacrylate chain shows higher affinity for complex formation with DoTA as compared to polymethacrylate chain. Anionic polyelectrolyte chains show higher interaction strength as compared to corresponding un-ionized chains. Anionic chains act as polymeric counterion in the complexes, resulting in the displacement of counterions (Na(+) and Cl(-)) into the bulk solution. Anionic chains show distinct shrinkage upon adsorption onto the micelle. Detailed information about the microscopic structure and binding characteristics of these complexes is in agreement with available experimental literature.

Multijoint kinetic chain analysis of knee extension during the soccer instep kick.

PubMed

Naito, Kozo; Fukui, Yosuke; Maruyama, Takeo

2010-04-01

Although previous studies have shown that motion-dependent interactions between adjacent segments play an important role in producing knee extension during the soccer instep kick, detailed knowledge about the mechanisms underlying those interactions is lacking. The present study aimed to develop a 3-D dynamical model for the multijoint kinetic chain of the instep kick in order to quantify the contributions of the causal dynamical factors to the production of maximum angular velocity during knee extension. Nine collegiate soccer players volunteered to participate in the experiment and performed instep kicking movements while 3-D positional data and the ground reaction force were measured. A dynamical model was developed in the form of a linked system containing 8 segments and 18 joint rotations, and the knee extension/flexion motion was decomposed into causal factors related to muscular moment, gyroscopic moment, centrifugal force, Coriolis force, gravity, proximal endpoint linear acceleration, and external force-dependent terms. The rapid knee extension during instep kicking was found to result almost entirely from kicking leg centrifugal force, trunk rotation muscular moment, kicking leg Coriolis force, and trunk rotation gyroscopic-dependent components. Based on the finding that rapid knee extension during instep kicking stems from multiple dynamical factors, it is suggested that the multijoint kinetic chain analysis used in the present study is more useful for achieving a detailed understanding of the cause of rapid kicking leg movement than the previously used 2-D, two-segment kinetic chain model. The present results also indicated that the centrifugal effect due to the kicking hip flexion angular velocity contributed substantially to the generation of a rapid knee extension, suggesting that the adjustment between the kicking hip flexion angular velocity and the leg configuration (knee flexion angle) is more important for effective instep kicking than other joint kinematics.

Probability distributions for Markov chain based quantum walks

NASA Astrophysics Data System (ADS)

Balu, Radhakrishnan; Liu, Chaobin; Venegas-Andraca, Salvador E.

2018-01-01

We analyze the probability distributions of the quantum walks induced from Markov chains by Szegedy (2004). The first part of this paper is devoted to the quantum walks induced from finite state Markov chains. It is shown that the probability distribution on the states of the underlying Markov chain is always convergent in the Cesaro sense. In particular, we deduce that the limiting distribution is uniform if the transition matrix is symmetric. In the case of a non-symmetric Markov chain, we exemplify that the limiting distribution of the quantum walk is not necessarily identical with the stationary distribution of the underlying irreducible Markov chain. The Szegedy scheme can be extended to infinite state Markov chains (random walks). In the second part, we formulate the quantum walk induced from a lazy random walk on the line. We then obtain the weak limit of the quantum walk. It is noted that the current quantum walk appears to spread faster than its counterpart-quantum walk on the line driven by the Grover coin discussed in literature. The paper closes with an outlook on possible future directions.

Enumeration of Ring–Chain Tautomers Based on SMIRKS Rules

PubMed Central

2015-01-01

A compound exhibits (prototropic) tautomerism if it can be represented by two or more structures that are related by a formal intramolecular movement of a hydrogen atom from one heavy atom position to another. When the movement of the proton is accompanied by the opening or closing of a ring it is called ring–chain tautomerism. This type of tautomerism is well observed in carbohydrates, but it also occurs in other molecules such as warfarin. In this work, we present an approach that allows for the generation of all ring–chain tautomers of a given chemical structure. Based on Baldwin’s Rules estimating the likelihood of ring closure reactions to occur, we have defined a set of transform rules covering the majority of ring–chain tautomerism cases. The rules automatically detect substructures in a given compound that can undergo a ring–chain tautomeric transformation. Each transformation is encoded in SMIRKS line notation. All work was implemented in the chemoinformatics toolkit CACTVS. We report on the application of our ring–chain tautomerism rules to a large database of commercially available screening samples in order to identify ring–chain tautomers. PMID:25158156

Spatial curvilinear path following control of underactuated AUV with multiple uncertainties.

PubMed

Miao, Jianming; Wang, Shaoping; Zhao, Zhiping; Li, Yuan; Tomovic, Mileta M

2017-03-01

This paper investigates the problem of spatial curvilinear path following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties. Firstly, in order to design the appropriate controller, path following error dynamics model is constructed in a moving Serret-Frenet frame, and the five degrees of freedom (DOFs) dynamic model with multiple uncertainties is established. Secondly, the proposed control law is separated into kinematic controller and dynamic controller via back-stepping technique. In the case of kinematic controller, to overcome the drawback of dependence on the accurate vehicle model that are present in a number of path following control strategies described in the literature, the unknown side-slip angular velocity and attack angular velocity are treated as uncertainties. Whereas in the case of dynamic controller, the model parameters perturbations, unknown external environmental disturbances and the nonlinear hydrodynamic damping terms are treated as lumped uncertainties. Both kinematic and dynamic uncertainties are estimated and compensated by designed reduced-order linear extended state observes (LESOs). Thirdly, feedback linearization (FL) based control law is implemented for the control model using the estimates generated by reduced-order LESOs. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiators (NTDs) are applied to construct derivatives of the virtual control commands. Finally, the closed loop stability for the overall system is established. Simulation and comparative analysis demonstrate that the proposed controller exhibits enhanced performance in the presence of internal parameter variations, external unknown disturbances, unmodeled nonlinear damping terms, and measurement noises. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Functional anatomy and kinematics of the oral jaw system during terrestrial feeding in Periophthalmus barbarus.

PubMed

Michel, Krijn B; Adriaens, Dominique; Aerts, Peter; Dierick, Manuel; Wassenbergh, Sam Van

2014-10-01

The Atlantic mudskipper, Periophthalmus barbarus, is an amphibious fish that successfully overcomes the numerous physical challenges of capturing prey in a terrestrial environment. However, it is unclear what changes in the morphology and function of the feeding apparatus contribute to the mudskipper's successful transition from aquatic to terrestrial capture of prey. In particular, how does the mudskipper achieve effective prehension of land-based prey using its percomorph feeding apparatus? To address that question, we performed a morphological analysis of the feeding apparatus of P. barbarus based on microcomputed tomography scanning, histological sectioning, and dissections as well as a kinematic analysis based on high-speed video and X-ray video to quantify the movements of the oral jaw apparatus elements. Our results show that the neurocranium remains in a fixed position relative to the pectoral girdle as the fish pivots over its pectoral fins toward the prey. The premaxilla rotates dorsally and protrudes downward over the prey. The dentary is rotated ventrally over an angle of 120°, which is facilitated by an intramandibular joint. These motions of the neurocranium, premaxilla, and dentary reorient the mouth aperture so it is parallel to the substrate, thereby allowing the jaws to be placed over the prey. The prey is grabbed between the oral teeth or scooped into the mouth primarily via rapid closing motion of the lower jaw. This analysis of P. barbarus clarifies the morphological and kinematic characteristics required by fish to become successful terrestrial feeders at the environmental transition between water and land. © 2014 Wiley Periodicals, Inc.

Activity and Kinematics of White Dwarf-M Dwarf Binaries from the SUPERBLINK Proper Motion Survey

DOE Office of Scientific and Technical Information (OSTI.GOV)

Skinner, Julie N.; Morgan, Dylan P.; West, Andrew A.

We present an activity and kinematic analysis of high proper motion white dwarf-M dwarf binaries (WD+dMs) found in the SUPERBLINK survey, 178 of which are new identifications. To identify WD+dMs, we developed a UV–optical–IR color criterion and conducted a spectroscopic survey to confirm each candidate binary. For the newly identified systems, we fit the two components using model white dwarf spectra and M dwarf template spectra to determine physical parameters. We use H α chromospheric emission to examine the magnetic activity of the M dwarf in each system, and investigate how its activity is affected by the presence of amore » white dwarf companion. We find that the fraction of WD+dM binaries with active M dwarfs is significantly higher than their single M dwarf counterparts at early and mid-spectral types. We corroborate previous studies that find high activity fractions at both close and intermediate separations. At more distant separations, the binary fraction appears to approach the activity fraction for single M dwarfs. Using derived radial velocities and the proper motions, we calculate 3D space velocities for the WD+dMs in SUPERBLINK. For the entire SUPERBLINK WD+dMs, we find a large vertical velocity dispersion, indicating a dynamically hotter population compared to high proper motion samples of single M dwarfs. We compare the kinematics for systems with active M dwarfs and those with inactive M dwarfs, and find signatures of asymmetric drift in the inactive sample, indicating that they are drawn from an older population.« less

Kinematic error magnitude in the single-mass inverted pendulum model of human standing posture.

PubMed

Fok, Kai Lon; Lee, Jae; Vette, Albert H; Masani, Kei

2018-06-01

Many postural control studies employ a single-mass inverted pendulum model (IPM) to represent the body during standing. However, it is not known to what degree and for what conditions the model's kinematic assumptions are valid. Our first objective was to quantify the IPM error, corresponding to a distance change between the ankle joint and center of mass (COM) during unrestricted, natural, unperturbed standing. A second objective was to quantify the error of having the ankle joint angle represent the COM angle. Eleven young participants completed five standing conditions: quiet standing with eyes open (EO) and closed (EC), voluntarily swaying forward (VSf) and backward (VSb), and freely moving (FR). The modified Helen-Hayes marker model was used to capture the body kinematics. The COM distance changed <0.1% during EO and EC, <0.25% during VSf and VSb, and <1.5% during FR. The ankle angle moderately and positively correlated with the COM angle for EO, EC, and VSf, indicating that temporal features of the ankle angle moderately represent those of the COM angle. However, a considerable offset between the two existed, which needs to be considered when estimating the COM angle using the ankle angle. For VSb and FR, the correlation coefficients were low and/or negative, suggesting that a large error would result from using the ankle angle as an estimate of the COM angle. Insights from this study will be critical for deciding when to use the IPM in postural control research and for interpreting associated results. Copyright © 2018 Elsevier B.V. All rights reserved.

From classic motor imagery to complex movement intention decoding: The noninvasive Graz-BCI approach.

PubMed

Müller-Putz, G R; Schwarz, A; Pereira, J; Ofner, P

2016-01-01

In this chapter, we give an overview of the Graz-BCI research, from the classic motor imagery detection to complex movement intentions decoding. We start by describing the classic motor imagery approach, its application in tetraplegic end users, and the significant improvements achieved using coadaptive brain-computer interfaces (BCIs). These strategies have the drawback of not mirroring the way one plans a movement. To achieve a more natural control-and to reduce the training time-the movements decoded by the BCI need to be closely related to the user's intention. Within this natural control, we focus on the kinematic level, where movement direction and hand position or velocity can be decoded from noninvasive recordings. First, we review movement execution decoding studies, where we describe the decoding algorithms, their performance, and associated features. Second, we describe the major findings in movement imagination decoding, where we emphasize the importance of estimating the sources of the discriminative features. Third, we introduce movement target decoding, which could allow the determination of the target without knowing the exact movement-by-movement details. Aside from the kinematic level, we also address the goal level, which contains relevant information on the upcoming action. Focusing on hand-object interaction and action context dependency, we discuss the possible impact of some recent neurophysiological findings in the future of BCI control. Ideally, the goal and the kinematic decoding would allow an appropriate matching of the BCI to the end users' needs, overcoming the limitations of the classic motor imagery approach. © 2016 Elsevier B.V. All rights reserved.

A young bipolar outflow from IRAS15398-3359

NASA Astrophysics Data System (ADS)

Bjerkeli, Per; Jørgensen, Jes K.

2015-08-01

The Class 0 protostar IRAS 15398-3359 is located in the Lupus I cloud at a distance of 155 pc. The source is known to harbour a molecular outflow, but the region has not attracted much interest until recently. IRAS 15398 is known to show interesting chemical signatures and being one of the very nearby, young outflow sources makes it an excellent target for detailed studies of the gas kinematics of different species.We present observations of several molecular species, carried out with the Submillimeter Array and ALMA, towards the IRAS 15398 outflow. The analysis of CO emission show obvious signs of episodic mass ejections, with a dynamical time scale between the knots in the jet, of the order 100 years. This is consistent with recent ALMA results where luminosity outbursts are estimated to occur on similar time-scales. The physical properties of the outflow, such as mass, momentum, momentum rate, mechanical luminosity, kinetic energy and mass-loss rate are estimated at relatively low values. We argue that this source is of a very young age, possibly younger than ~1000 years. This is consistent with recent studies of the kinematics of the inner envelope/disk. The observed line profiles were compared to full 3D radiative transfer models of the source, constructed with the Line Modelling Engine (LIME). The observed line shapes can only be understood when considering several distinctly different physical components, viz. the outflow cavity, the infalling envelope and the surrounding cloud material. This allows us to put quantitative constraints on the kinematics of the material close to the central source.

Geometric and kinematic features of the dike complex at Mt. Somma, Vesuvio (Italy)

NASA Astrophysics Data System (ADS)

Porreca, M.; Acocella, V.; Massimi, E.; Mattei, M.; Funiciello, R.; De Benedetti, A. A.

2006-05-01

Dikes provide important information on the structure, state of stress and activity of a volcano. Mt. Somma borders part of the Vesuvio cone (Italy), displaying ˜ 100 dikes emplaced between ˜ 18 and 30 ka. Field, AMS (anisotropy of magnetic susceptibility) and thin section analyses are used to characterize their geometry and kinematics (direction and sense of flow). The dikes mostly have a NNW-SSE to NE-SW strike. Approximately 57% are radial to the older Somma edifice, ˜ 27% are oblique and ˜ 16% tangential. Among the latter two groups, ˜ 32% are outward dipping and ˜ 11% inward dipping. The dike thickness varies between 0.2 and 3 m, with a mean value of 1.17 m. The kinematics of 19 dikes is determined through a combination of field (8 dikes), AMS (16 dikes) and thin section analyses (15 dikes). Thirteen dikes have a vertical upward flow, whereas six have an oblique-subhorizontal flow, suggesting a lateral propagation from the summit or eccentric vents of the former Somma edifice. These propagation paths differ from those deducible from the recent activity, as all the seven major fissure eruptions between 1631 and 1944 were related to the lateral propagation of radial dikes. We propose that these different behaviours in dike propagation may be mainly related to the opening conditions of the summit conduit. The laterally propagating dikes in 1631-1944 formed with an open conduit. Conversely, the vertically propagating dikes may have formed, between 18 and 30 ka, with a closed conduit.

Kinematics of benthic suction feeding in Callichthyidae and Mochokidae, with functional implications for the evolution of food scraping in catfishes.

PubMed

Van Wassenbergh, Sam; Lieben, Tim; Herrel, Anthony; Huysentruyt, Frank; Geerinckx, Tom; Adriaens, Dominique; Aerts, Peter

2009-01-01

Food scraping has independently evolved twice from suction feeding in the evolution of catfishes: within neotropical Loricarioidea and paleotropical Mochokidae. To gain insight in the evolutionary transitions associated with the evolution towards scraping, we analyzed prey capture kinematics in two species of benthic suction feeders which belong to taxa that are closely related to the scraper lineages (respectively, Corydoras splendens and Synodontis multipunctatus), and compared it to prey capture in a more distantly related, generalist suction feeder (Clarias gariepinus). Simultaneous ventral and lateral view high-speed videos were recorded to quantify the movements of the lower jaw, hyoid, pectoral girdle and neurocranium. Additionally, ellipse modeling was applied to relate head shape differences to buccal expansion kinematics. Similarly to what has been observed in scrapers, rotations of the neurocranium are minimal in the benthic suction feeders, and may consequently have facilitated the evolution of a scraping feeding mechanism. The hypothesis that fish with a more laterally compressed head rely more heavily on lateral expansion of the buccal cavity to generate suction, was confirmed in our sample of catfish species. Since an important contribution of lateral expansion of the head to suction may avoid the need for a strong, ventral depression of the mouth floor during feeding, we hypothesized that this may have allowed a closer association with the substrate in the ancestors of scrapers. However, our hypothesis was not supported by an ancestral state reconstruction, which suggests that scraping probably evolved from sub-terminal mouthed ancestors with dorsoventrally flattened heads.

Brain tissue strains vary with head impact location: A possible explanation for increased concussion risk in struck versus striking football players.

PubMed

Elkin, Benjamin S; Gabler, Lee F; Panzer, Matthew B; Siegmund, Gunter P

2018-03-29

On-field football helmet impacts over a large range of severities have caused concussions in some players but not in other players. One possible explanation for this variability is the struck player's helmet impact location. We examined the effect of impact location on regional brain tissue strain when input energy was held constant. Laboratory impacts were performed at 12 locations distributed over the helmet and the resulting head kinematics were simulated in two finite element models of the brain: the Simulated Injury Monitor and the Global Human Body Model Consortium brain model. Peak kinematics, injury metrics and brain strain varied significantly with impact location. Differences in impact location explained 33 to 37% of the total variance in brain strain for the whole brain and cerebrum, considerably more than the variance explained by impact location for the peak resultant head kinematics (8 to 23%) and slightly more than half of the variance explained by the difference in closing speed (57 to 61%). Both finite element models generated similar strain results, with minor variations for impacts that generated multi-axial rotations, larger variations in brainstem strains for some impact locations and a small bias for the cerebellum. Based on this experimental and computational simulation study, impact location on the football helmet has a large effect on regional brain tissue strain. We also found that the lowest strains consistently occurred in impacts to the crown and forehead, helmet locations commonly associated with the striking player. Copyright © 2018 Elsevier Ltd. All rights reserved.

A Spectroscopic and Photometric Study of the Planetary Nebulae Kn 61 and Pa 5

NASA Astrophysics Data System (ADS)

García-Díaz, Ma. T.; González-Buitrago, D.; López, J. A.; Zharikov, S.; Tovmassian, G.; Borisov, N.; Valyavin, G.

2014-09-01

We present the first morpho-kinematical analysis of the planetary nebulae Kn 61 and Pa 5 and explore the nature of their central stars. Our analysis is based on high-resolution and medium-resolution spectroscopic observations, deep narrow-band imaging, and integral photometry. This material allows us to identify the morphological components and study their kinematics. The direct images and spectra indicate an absence of the characteristic [N II] and [S II] emission lines in both nebulae. The nebular spectrum of Kn 61 suggests a hydrogen deficient planetary nebula and the stellar spectrum of the central star reveals a hydrogen-deficient PG 1159-type star. The [O III] position velocity diagram reveals that Kn 61 is a closed, empty, spherical shell with a thin border and a filamentary surface expanding at 67.6 km s-1 and the shell is currently not expanding isotropically. We derived a kinematic age of ~1.6 × 104 yr for an assumed distance of 4 kpc. A photometric period of ~5.7(±0.4) days has been detected for Kn 61, indicating the presence of a possible binary system at its core. A possible link between filamentary spherical shells and PG 1159-type stars is noted. The morphology of Pa 5 is dominated by an equatorial toroid and faint polar extensions. The equatorial region of this planetary nebula is expanding at 45.2 km s-1. The stellar spectrum corresponds to a very hot star and is dominated by a steep blue rising continuum and He II, Balmer, and Ca II photospheric lines.

Phase transitions in single macromolecules: Loop-stretch transition versus loop adsorption transition in end-grafted polymer chains

NASA Astrophysics Data System (ADS)

Zhang, Shuangshuang; Qi, Shuanhu; Klushin, Leonid I.; Skvortsov, Alexander M.; Yan, Dadong; Schmid, Friederike

2018-01-01

We use Brownian dynamics simulations and analytical theory to compare two prominent types of single molecule transitions. One is the adsorption transition of a loop (a chain with two ends bound to an attractive substrate) driven by an attraction parameter ɛ and the other is the loop-stretch transition in a chain with one end attached to a repulsive substrate, driven by an external end-force F applied to the free end. Specifically, we compare the behavior of the respective order parameters of the transitions, i.e., the mean number of surface contacts in the case of the adsorption transition and the mean position of the chain end in the case of the loop-stretch transition. Close to the transition points, both the static behavior and the dynamic behavior of chains with different length N are very well described by a scaling ansatz with the scaling parameters (ɛ - ɛ*)Nϕ (adsorption transition) and (F - F*)Nν (loop-stretch transition), respectively, where ϕ is the crossover exponent of the adsorption transition and ν is the Flory exponent. We show that both the loop-stretch and the loop adsorption transitions provide an exceptional opportunity to construct explicit analytical expressions for the crossover functions which perfectly describe all simulation results on static properties in the finite-size scaling regime. Explicit crossover functions are based on the ansatz for the analytical form of the order parameter distributions at the respective transition points. In contrast to the close similarity in equilibrium static behavior, the dynamic relaxation at the two transitions shows qualitative differences, especially in the strongly ordered regimes. This is attributed to the fact that the surface contact dynamics in a strongly adsorbed chain is governed by local processes, whereas the end height relaxation of a strongly stretched chain involves the full spectrum of Rouse modes.

Multi-temporal mapping of a large, slow-moving earth flow for kinematic interpretation

USGS Publications Warehouse

Guerriero, Luigi; Coe, Jeffrey A.; Revellino, Paola; Guadagno, Francesco M.

2014-01-01

Periodic movement of large, thick landslides on discrete basal surfaces produces modifications of the topographic surface, creates faults and folds, and influences the locations of springs, ponds, and streams (Baum, et al., 1993; Coe et al., 2009). The geometry of the basal-slip surface, which can be controlled by geological structures (e.g., fold axes, faults, etc.; Revellino et al., 2010; Grelle et al., 2011), and spatial variation in the rate of displacement, are responsible for differential deformation and kinematic segmentation of the landslide body. Thus, large landslides are often composed of several distinct kinematic elements. Each element represents a discrete kinematic domain within the main landslide that is broadly characterized by stretching (extension) of the upper part of the landslide and shortening (compression) near the landslide toe (Baum and Fleming, 1991; Guerriero et al., in review). On the basis of this knowledge, we used photo interpretive and GPS field mapping methods to map structures on the surface of the Montaguto earth flow in the Apennine Mountains of southern Italy at a scale of 1:6,000. (Guerriero et al., 2013a; Fig.1). The earth flow has been periodically active since at least 1954. The most extensive and destructive period of activity began on April 26, 2006, when an estimated 6 million m3 of material mobilized, covering and closing Italian National Road SS90, and damaging residential structures (Guerriero et al., 2013b). Our maps show the distribution and evolution of normal faults, thrust faults, strike-slip faults, flank ridges, and hydrological features at nine different dates (October, 1954; June, 1976; June, 1991; June, 2003; June, 2005; May, 2006; October, 2007; July, 2009; and March , 2010) between 1954 and 2010. Within the earth flow we recognized several kinematic elements and associated structures (Fig.2a). Within each kinematic element (e.g. the earth flow neck; Fig.2b), the flow velocity was highest in the middle, and lowest in the upper and lower parts. As the velocity of movement initiated and increased, stretching of the earth flow body induced the formation of normal faults. Conversely, decreasing velocity and shortening of the earth flow induced the formation of thrust faults. A zone with relatively few structures, bounded by strike-slip faults, was located between stretching and shortening areas. These kinematic elements indicate that the overall earth flow was actually composed of numerous linked internal earth flows, with each internal flow having a distinct pattern of structures representative of stretching and shortening (Guerriero et al., in review). These observations indicated that the spatial variation in movement velocity associated with each internal earth flow, mimicked the pattern of movement for the overall earth flow. That is, the earth flow displayed a self-similar pattern at different scales. Furthermore, the presence of other structures such as back-tilted surfaces, flank-ridges, and hydrological elements provide specific information about the shape of the basal topographic surface. Our multi-temporal maps provided a basis for interpretation of the long-term kinematic evolution of the earth flow and the influence of the basal-slip surface on the earth flow movement. Our maps showed that main faults remained stationary through time, despite extensive mobilization and movement of material. This observation indicated that the slip-surface has remained relatively stationary since at least 1954.

BetaSCPWeb: side-chain prediction for protein structures using Voronoi diagrams and geometry prioritization

PubMed Central

Ryu, Joonghyun; Lee, Mokwon; Cha, Jehyun; Laskowski, Roman A.; Ryu, Seong Eon; Kim, Deok-Soo

2016-01-01

Many applications, such as protein design, homology modeling, flexible docking, etc. require the prediction of a protein's optimal side-chain conformations from just its amino acid sequence and backbone structure. Side-chain prediction (SCP) is an NP-hard energy minimization problem. Here, we present BetaSCPWeb which efficiently computes a conformation close to optimal using a geometry-prioritization method based on the Voronoi diagram of spherical atoms. Its outputs are visual, textual and PDB file format. The web server is free and open to all users at http://voronoi.hanyang.ac.kr/betascpweb with no login requirement. PMID:27151195

The Relationships between Logical Thinking, Gender, and Kinematics Graph Interpretation Skills

ERIC Educational Resources Information Center

Bektasli, Behzat; White, Arthur L.

2012-01-01

Problem Statement: Kinematics is one of the topics in physics where graphs are used broadly. Kinematics includes many abstract formulas, and students usually try to solve problems with those formulas. However, using a kinematics graph instead of formulas might be a better option for problem solving in kinematics. Graphs are abstract…

Kinematic space and wormholes

NASA Astrophysics Data System (ADS)

Zhang, Jian-dong; Chen, Bin

2017-01-01

The kinematic space could play a key role in constructing the bulk geometry from dual CFT. In this paper, we study the kinematic space from geometric points of view, without resorting to differential entropy. We find that the kinematic space could be intrinsically defined in the embedding space. For each oriented geodesic in the Poincaré disk, there is a corresponding point in the kinematic space. This point is the tip of the causal diamond of the disk whose intersection with the Poincaré disk determines the geodesic. In this geometric construction, the causal structure in the kinematic space can be seen clearly. Moreover, we find that every transformation in the SL(2,R) leads to a geodesic in the kinematic space. In particular, for a hyperbolic transformation defining a BTZ black hole, it is a timelike geodesic in the kinematic space. We show that the horizon length of the static BTZ black hole could be computed by the geodesic length of corresponding points in the kinematic space. Furthermore, we discuss the fundamental regions in the kinematic space for the BTZ blackhole and multi-boundary wormholes.

Coordinating a Supply Chain with Price and Advertisement Dependent Stochastic Demand

PubMed Central

Li, Liying; Wang, Yong; Yan, Xiaoming

2013-01-01

This paper investigates pricing and ordering as well as advertising coordination issues in a single-manufacturer single-retailer supply chain, where the manufacturer sells a newsvendor-type product through the retailer who faces a stochastic demand depending on both retail price and advertising expenditure. Under the assumption that the market demand has a multiplicative functional form, the Stackelberg and cooperative game models are developed, and the closed form solution to each model is provided as well. Comparisons and insights are presented. We show that a properly designed revenue-cost-sharing contract can achieve supply chain coordination and lead to a Pareto improving win-win situation for channel members. We also discuss the allocation of the extra joint profit according to individual supply chain members' risk preferences and negotiating powers. PMID:24453832

An Exactly Solvable Spin Chain Related to Hahn Polynomials

NASA Astrophysics Data System (ADS)

Stoilova, Neli I.; van der Jeugt, Joris

2011-03-01

We study a linear spin chain which was originally introduced by Shi et al. [Phys. Rev. A 71 (2005), 032309, 5 pages], for which the coupling strength contains a parameter α and depends on the parity of the chain site. Extending the model by a second parameter β, it is shown that the single fermion eigenstates of the Hamiltonian can be computed in explicit form. The components of these eigenvectors turn out to be Hahn polynomials with parameters (α,β) and (α+1,β-1). The construction of the eigenvectors relies on two new difference equations for Hahn polynomials. The explicit knowledge of the eigenstates leads to a closed form expression for the correlation function of the spin chain. We also discuss some aspects of a q-extension of this model.

Coordinating a supply chain with price and advertisement dependent stochastic demand.

PubMed

Li, Liying; Wang, Yong; Yan, Xiaoming

2013-01-01

This paper investigates pricing and ordering as well as advertising coordination issues in a single-manufacturer single-retailer supply chain, where the manufacturer sells a newsvendor-type product through the retailer who faces a stochastic demand depending on both retail price and advertising expenditure. Under the assumption that the market demand has a multiplicative functional form, the Stackelberg and cooperative game models are developed, and the closed form solution to each model is provided as well. Comparisons and insights are presented. We show that a properly designed revenue-cost-sharing contract can achieve supply chain coordination and lead to a Pareto improving win-win situation for channel members. We also discuss the allocation of the extra joint profit according to individual supply chain members' risk preferences and negotiating powers.

Boundary kinematic space

DOE PAGES

Karch, Andreas; Sully, James; Uhlemann, Christoph F.; ...

2017-08-10

We extend kinematic space to a simple scenario where the state is not fixed by conformal invariance: the vacuum of a conformal field theory with a boundary (bCFT). We identify the kinematic space associated with the boundary operator product expansion (bOPE) as a subspace of the full kinematic space. In addition, we establish representations of the corresponding bOPE blocks in a dual gravitational description. We show how the new kinematic dictionary and the dynamical data in bOPE allows one to reconstruct the bulk geometry. This is evidence that kinematic space may be a useful construction for understanding bulk physics beyondmore » just kinematics.« less

Kinematic constraints associated with the acquisition of overarm throwing part II: upper extremity actions.

PubMed

Stodden, David F; Langendorfer, Stephen J; Fleisig, Glenn S; Andrews, James R

2006-12-01

The purposes of this study were to: (a) examine the differences within 11 specific kinematic variables and an outcome measure (ball velocity) associated with component developmental levels of humerus and forearm action (Roberton & Halverson, 1984), and (b) if the differences in kinematic variables were significantly associated with the differences in component levels, determine potential kinematic constraints associated with skilled throwing acquisition. Significant differences among component levels in five of six humerus kinematic variables (p <.01) and all five forearm kinematic variables (p < .01) were identified using multivariate analysis of variance. These kinematic variables represent potential control parameters and, therefore, constraints on overarm throwing acquisition.

Boundary kinematic space

DOE Office of Scientific and Technical Information (OSTI.GOV)

Karch, Andreas; Sully, James; Uhlemann, Christoph F.

We extend kinematic space to a simple scenario where the state is not fixed by conformal invariance: the vacuum of a conformal field theory with a boundary (bCFT). We identify the kinematic space associated with the boundary operator product expansion (bOPE) as a subspace of the full kinematic space. In addition, we establish representations of the corresponding bOPE blocks in a dual gravitational description. We show how the new kinematic dictionary and the dynamical data in bOPE allows one to reconstruct the bulk geometry. This is evidence that kinematic space may be a useful construction for understanding bulk physics beyondmore » just kinematics.« less

Process modelling for materials preparation experiments

NASA Technical Reports Server (NTRS)

Rosenberger, Franz; Alexander, J. Iwan D.

1992-01-01

The development is examined of mathematical tools and measurement of transport properties necessary for high fidelity modeling of crystal growth from the melt and solution, in particular for the Bridgman-Stockbarger growth of mercury cadmium telluride (MCT) and the solution growth of triglycine sulphate (TGS). The tasks include development of a spectral code for moving boundary problems, kinematic viscosity measurements on liquid MCT at temperatures close to the melting point, and diffusivity measurements on concentrated and supersaturated TGS solutions. A detailed description is given of the work performed for these tasks, together with a summary of the resulting publications and presentations.

A new RISE-based adaptive control of PKMs: design, stability analysis and experiments

NASA Astrophysics Data System (ADS)

Bennehar, M.; Chemori, A.; Bouri, M.; Jenni, L. F.; Pierrot, F.

2018-03-01

This paper deals with the development of a new adaptive control scheme for parallel kinematic manipulators (PKMs) based on Rrbust integral of the sign of the error (RISE) control theory. Original RISE control law is only based on state feedback and does not take advantage of the modelled dynamics of the manipulator. Consequently, the overall performance of the resulting closed-loop system may be poor compared to modern advanced model-based control strategies. We propose in this work to extend RISE by including the nonlinear dynamics of the PKM in the control loop to improve its overall performance. More precisely, we augment original RISE control scheme with a model-based adaptive control term to account for the inherent nonlinearities in the closed-loop system. To demonstrate the relevance of the proposed controller, real-time experiments are conducted on the Delta robot, a three-degree-of-freedom (3-DOF) PKM.

Relative position coordinated control for spacecraft formation flying with communication delays

NASA Astrophysics Data System (ADS)

Ran, Dechao; Chen, Xiaoqian; Misra, Arun K.; Xiao, Bing

2017-08-01

This study addresses a relative position coordinated control problem for spacecraft formation flying subject to directed communication topology. Two different kinds of communication delay cases, including time-varying delays and arbitrarily bounded delays are investigated. Using the backstepping control technique, two virtual velocity control inputs are firstly designed to achieve coordinated position tracking for the kinematic subsystem. Furthermore, a hyperbolic tangent function is introduced to guarantee the boundedness of the virtual controller. Then, a finite-time control algorithm is designed for the dynamic subsystem. It can guarantee that the virtual velocity can be followed by the real velocity after finite time. It is theoretically proved that the proposed control scheme can asymptotically stabilize the closed-loop system. Numerical simulations are further presented that not only highlight closed-loop performance benefiting from the proposed control scheme, but also illustrate its superiority in comparison with conventional formation control schemes.

Estimation of kinematic parameters in CALIFA galaxies: no-assumption on internal dynamics

NASA Astrophysics Data System (ADS)

García-Lorenzo, B.; Barrera-Ballesteros, J.; CALIFA Team

2016-06-01

We propose a simple approach to homogeneously estimate kinematic parameters of a broad variety of galaxies (elliptical, spirals, irregulars or interacting systems). This methodology avoids the use of any kinematical model or any assumption on internal dynamics. This simple but novel approach allows us to determine: the frequency of kinematic distortions, systemic velocity, kinematic center, and kinematic position angles which are directly measured from the two dimensional-distributions of radial velocities. We test our analysis tools using the CALIFA Survey

Testing invisible momentum ansatze in missing energy events at the LHC

NASA Astrophysics Data System (ADS)

Kim, Doojin; Matchev, Konstantin T.; Moortgat, Filip; Pape, Luc

2017-08-01

We consider SUSY-like events with two decay chains, each terminating in an invisible particle, whose true energy and momentum are not measured in the detector. Nevertheless, a useful educated guess about the invisible momenta can still be obtained by optimizing a suitable invariant mass function. We review and contrast several proposals in the literature for such ansatze: four versions of the M T 2-assisted on-shell reconstruction (MAOS), as well as several variants of the on-shell constrained M 2 variables. We compare the performance of these methods with regards to the mass determination of a new particle resonance along the decay chain from the peak of the reconstructed invariant mass distribution. For concreteness, we consider the event topology of dilepton t\\overline{t} events and study each of the three possible subsystems, in both a t\\overline{t} and a SUSY example. We find that the M 2 variables generally provide sharper peaks and therefore better ansatze for the invisible momenta. We show that the performance can be further improved by preselecting events near the kinematic endpoint of the corresponding variable from which the momentum ansatz originates.

Testing invisible momentum ansatze in missing energy events at the LHC

DOE PAGES

Kim, Doojin; Matchev, Konstantin T.; Moortgat, Filip; ...

2017-08-23

We consider SUSY-like events with two decay chains, each terminating in an invisible particle, whose true energy and momentum are not measured in the detector. Nevertheless, a useful educated guess about the invisible momenta can still be obtained by optimizing a suitable invariant mass function. We review and contrast several proposals in the literature for such ansatze: four versions of the M T 2-assisted on-shell reconstruction (MAOS), as well as several variants of the on-shell constrained M 2 variables. We compare the performance of these methods with regards to the mass determination of a new particle resonance along the decaymore » chain from the peak of the reconstructed invariant mass distribution. For concreteness, we consider the event topology of dilepton tt¯ events and study each of the three possible subsystems, in both a tt¯ and a SUSY example. We find that the M 2 variables generally provide sharper peaks and therefore better ansatze for the invisible momenta. We show that the performance can be further improved by preselecting events near the kinematic endpoint of the corresponding variable from which the momentum ansatz originates.« less

Kinematic rate control of simulated robot hand at or near wrist singularity

NASA Technical Reports Server (NTRS)

Barker, K.; Houck, J. A.; Carzoo, S. W.

1985-01-01

A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears.

Different mechanics of snap-trapping in the two closely related carnivorous plants Dionaea muscipula and Aldrovanda vesiculosa

NASA Astrophysics Data System (ADS)

Poppinga, Simon; Joyeux, Marc

2011-10-01

The carnivorous aquatic waterwheel plant (Aldrovanda vesiculosa L.) and the closely related terrestrial venus flytrap (Dionaea muscipula Sol. ex J. Ellis) both feature elaborate snap-traps, which shut after reception of an external mechanical stimulus by prey animals. Traditionally, Aldrovanda is considered as a miniature, aquatic Dionaea, an assumption which was already established by Charles Darwin. However, videos of snapping traps from both species suggest completely different closure mechanisms. Indeed, the well-described snapping mechanism in Dionaea comprises abrupt curvature inversion of the two trap lobes, while the closing movement in Aldrovanda involves deformation of the trap midrib but not of the lobes, which do not change curvature. In this paper, we present detailed mechanical models for these plants, which are based on the theory of thin solid membranes and explain this difference by showing that the fast snapping of Aldrovanda is due to kinematic amplification of the bending deformation of the midrib, while that of Dionaea unambiguously relies on the buckling instability that affects the two lobes.

Mechanisms underlying rhythmic locomotion: body–fluid interaction in undulatory swimming

PubMed Central

Chen, J.; Friesen, W. O.; Iwasaki, T.

2011-01-01

Swimming of fish and other animals results from interactions of rhythmic body movements with the surrounding fluid. This paper develops a model for the body–fluid interaction in undulatory swimming of leeches, where the body is represented by a chain of rigid links and the hydrodynamic force model is based on resistive and reactive force theories. The drag and added-mass coefficients for the fluid force model were determined from experimental data of kinematic variables during intact swimming, measured through video recording and image processing. Parameter optimizations to minimize errors in simulated model behaviors revealed that the resistive force is dominant, and a simple static function of relative velocity captures the essence of hydrodynamic forces acting on the body. The model thus developed, together with the experimental kinematic data, allows us to investigate temporal and spatial (along the body) distributions of muscle actuation, body curvature, hydrodynamic thrust and drag, muscle power supply and energy dissipation into the fluid. We have found that: (1) thrust is generated continuously along the body with increasing magnitude toward the tail, (2) drag is nearly constant along the body, (3) muscle actuation waves travel two or three times faster than the body curvature waves and (4) energy for swimming is supplied primarily by the mid-body muscles, transmitted through the body in the form of elastic energy, and dissipated into the water near the tail. PMID:21270304

Chain-loaded variable resistance warm-up improves free-weight maximal back squat performance.

PubMed

Mina, Minas A; Blazevich, Anthony J; Giakas, Giannis; Seitz, Laurent B; Kay, Anthony D

2016-11-01

The acute influence of chain-loaded variable resistance exercise on subsequent free-weight one-repetition maximum (1-RM) back squat performance was examined in 16 recreationally active men. The participants performed either a free-weight resistance (FWR) or chain-loaded resistance (CLR) back squat warm-up at 85% 1-RM on two separate occasions. After a 5-min rest, the participants attempted a free-weight 1-RM back squat; if successful, subsequent 5% load additions were made until participants failed to complete the lift. During the 1-RM trials, 3D knee joint kinematics and knee extensor and flexor electromyograms (EMG) were recorded simultaneously. Significantly greater 1-RM (6.2 ± 5.0%; p < .01) and mean eccentric knee extensor EMG (32.2 ± 6.7%; p < .01) were found after the CLR warm-up compared to the FWR condition. However, no difference (p > .05) was found in concentric EMG, eccentric or concentric knee angular velocity, or peak knee flexion angle. Performing a CLR warm-up enhanced subsequent free-weight 1-RM performance without changes in knee flexion angle or eccentric and concentric knee angular velocities; thus a real 1-RM increase was achieved as the mechanics of the lift were not altered. These results are indicative of a potentiating effect of CLR in a warm-up, which may benefit athletes in tasks where high-level strength is required.

The effect of trochlear dysplasia on patellofemoral biomechanics: a cadaveric study with simulated trochlear deformities.

PubMed

Van Haver, Annemieke; De Roo, Karel; De Beule, Matthieu; Labey, Luc; De Baets, Patrick; Dejour, David; Claessens, Tom; Verdonk, Peter

2015-06-01

Trochlear dysplasia appears in different geometrical variations. The Dejour classification is widely used to grade the severity of trochlear dysplasia and to decide on treatment. To investigate the effect of trochlear dysplasia on patellofemoral biomechanics and to determine if different types of trochlear dysplasia have different effects on patellofemoral biomechanics. Controlled laboratory study. Trochlear dysplasia was simulated in 4 cadaveric knees by replacing the native cadaveric trochlea with different types of custom-made trochlear implants, manufactured with 3-dimensional printing. For each knee, 5 trochlear implants were designed: 1 implant simulated the native trochlea (control condition), and 4 implants simulated 4 types of trochlear dysplasia. The knees were subjected to 3 biomechanical tests: a squat simulation, an open chain extension simulation, and a patellar stability test. The patellofemoral kinematics, contact area, contact pressure, and stability were compared between the control condition (replica implants) and the trochlear dysplastic condition and among the subgroups of trochlear dysplasia. The patellofemoral joint in the trochlear dysplastic group showed increased internal rotation, lateral tilt, and lateral translation; increased contact pressures; decreased contact areas; and decreased stability when compared with the control group. Within the trochlear dysplastic group, the implants graded as Dejour type D showed the largest deviations for the kinematical parameters, and the implants graded as Dejour types B and D showed the largest deviations for the patellofemoral contact areas and pressures. Patellofemoral kinematics, contact area, contact pressure, and stability are significantly affected by trochlear dysplasia. Of all types of trochlear dysplasia, the models characterized with a pronounced trochlear bump showed the largest deviations in patellofemoral biomechanics. Investigating the relationship between the shape of the trochlea and patellofemoral biomechanics can provide insight into the short-term effects (maltracking, increased pressures, and instability) and long-term effects (osteoarthritis) of different types of trochlear dysplasia. Furthermore, this investigation provides an empirical explanation for better treatment outcomes of trochleoplasty for Dejour types B and D dysplasia. © 2015 The Author(s).

Differences in Muscle Activation and Kinematics Between Cable-Based and Selectorized Weight Training.

PubMed

Signorile, Joseph F; Rendos, Nicole K; Heredia Vargas, Hector H; Alipio, Taislaine C; Regis, Rebecca C; Eltoukhy, Moataz M; Nargund, Renu S; Romero, Matthew A

2017-02-01

Signorile, JF, Rendos, NK, Heredia Vargas, HH, Alipio, TC, Regis, RC, Eltoukhy, MM, Nargund, RS, and Romero, MA. Differences in muscle activation and kinematics between cable-based and selectorized weight training. J Strength Cond Res 31(2): 313-322, 2017-Cable resistance training machines are showing resurgent popularity and allow greater number of degrees of freedom than typical selectorized equipment. Given that specific kinetic chains are used during distinct activities of daily living (ADL), cable machines may provide more effective interventions for some ADL, whereas others may be best addressed using selectorized equipment. This study examined differences in activity levels (root mean square of the EMG [rmsEMG]) of 6 major muscles (pectoralis major, PM; anterior deltoid, AD; biceps brachii, BB; rectus abdominis, RA; external obliques, EO; and triceps brachii, TB) and kinematics of multiple joints between a cable and standard selectorized machines during the biceps curl, the chest press, and the overhead press performed at 1.5 seconds per contractile stage. Fifteen individuals (9 men, 6 women; mean age ± SD, 24.33 ± 4.88 years) participated. Machine order was randomized. Significant differences favoring cable training were seen for PM and AD during biceps curl; BB, AD, and EO for chest press; and BB and EO during overhead press (p ≤ 0.05). Greater starting and ending angles were seen for the elbow and shoulder joints during selectorized biceps curl, whereas hip and knee starting and ending angles were greater for cable machine during chest and overhead presses (p < 0.0001). Greater range of motion (ROM) favoring the cable machine was also evident (p < 0.0001). These results indicate that utilization patterns of selected muscles, joint angles, and ROMs can be varied because of machine application even when similar exercises are used, and therefore, these machines can be used selectively in training programs requiring specific motor or biomechanical patterns.

Lymphogranuloma venereum variant L2b-specific polymerase chain reaction: insertion used to close an epidemiological gap.

PubMed

Verweij, S P; Catsburg, A; Ouburg, S; Lombardi, A; Heijmans, R; Dutly, F; Frei, R; Morré, S A; Goldenberger, D

2011-11-01

The management of the ongoing lymphogranuloma venereum epidemic in industrialized Western countries caused by Chlamydia trachomatis variant L2b still needs improvements in diagnosis, therapy and prevention. We therefore developed the first rapid C. trachomatis variant L2b-specific polymerase chain reaction to circumvent laborious ompA gene sequencing. © 2011 The Authors. Clinical Microbiology and Infection © 2011 European Society of Clinical Microbiology and Infectious Diseases.

Reliable design of a closed loop supply chain network under uncertainty: An interval fuzzy possibilistic chance-constrained model

NASA Astrophysics Data System (ADS)

Vahdani, Behnam; Tavakkoli-Moghaddam, Reza; Jolai, Fariborz; Baboli, Arman

2013-06-01

This article seeks to offer a systematic approach to establishing a reliable network of facilities in closed loop supply chains (CLSCs) under uncertainties. Facilities that are located in this article concurrently satisfy both traditional objective functions and reliability considerations in CLSC network designs. To attack this problem, a novel mathematical model is developed that integrates the network design decisions in both forward and reverse supply chain networks. The model also utilizes an effective reliability approach to find a robust network design. In order to make the results of this article more realistic, a CLSC for a case study in the iron and steel industry has been explored. The considered CLSC is multi-echelon, multi-facility, multi-product and multi-supplier. Furthermore, multiple facilities exist in the reverse logistics network leading to high complexities. Since the collection centres play an important role in this network, the reliability concept of these facilities is taken into consideration. To solve the proposed model, a novel interactive hybrid solution methodology is developed by combining a number of efficient solution approaches from the recent literature. The proposed solution methodology is a bi-objective interval fuzzy possibilistic chance-constraint mixed integer linear programming (BOIFPCCMILP). Finally, computational experiments are provided to demonstrate the applicability and suitability of the proposed model in a supply chain environment and to help decision makers facilitate their analyses.

Comparison of three types of exercise in the treatment of rotator cuff tendinopathy/shoulder impingement syndrome: A randomized controlled trial.

PubMed

Heron, Stuart R; Woby, Steve R; Thompson, Dave P

2017-06-01

To assess the efficacy of three different exercise programmes in treating rotator cuff tendinopathy/shoulder impingement syndrome. Parallel group randomised clinical trial. Two out-patient NHS physiotherapy departments in Manchester, United Kingdom. 120 patients with shoulder pain of at least three months duration. Pain was reproduced on stressing the rotator cuff and participants had full passive range of movement at the shoulder. Three dynamic rotator cuff loading programmes; open chain resisted band exercises (OC) closed chain exercises (CC) and minimally loaded range of movement exercises (ROM). Change in Shoulder Pain and Disability Index (SPADI) score and the proportion of patients making a Minimally Clinically Important Change (MCIC) in symptoms 6 weeks after commencing treatment. All three programmes resulted in significant decreases in SPADI score, however there were no significant differences between the groups. Participants making a MCIC in symptoms were similar across all groups, however more participants deteriorated in the ROM group. Dropout rate was higher in the CC group, but when only patients completing treatment were considered more patients in the CC group made a meaningful reduction in pain and disability. Open chain, closed chain and range of movement exercises all seem to be effective in bringing about short term changes in pain and disability in patients with rotator cuff tendinopathy. ISRCTN76701121. Crown Copyright © 2016. Published by Elsevier Ltd. All rights reserved.

Comparing the reliability of a trigonometric technique to goniometry and inclinometry in measuring ankle dorsiflexion.

PubMed

Sidaway, Ben; Euloth, Tracey; Caron, Heather; Piskura, Matthew; Clancy, Jessica; Aide, Alyson

2012-07-01

The purpose of this study was to compare the reliability of three previously used techniques for the measurement of ankle dorsiflexion ROM, open-chained goniometry, closed-chained goniometry, and inclinometry, to a novel trigonometric technique. Twenty-one physiotherapy students used four techniques (open-chained goniometry, closed-chained goniometry, inclinometry, and trigonometry) to assess dorsiflexion range of motion in 24 healthy volunteers. All student raters underwent training to establish competence in the four techniques. Raters then measured dorsiflexion with a randomly assigned measuring technique four times over two sessions, one week apart. Data were analyzed using a technique by session analysis of variance, technique measurement variability being the primary index of reliability. Comparisons were also made between the measurements derived from the four techniques and those obtained from a computerized video analysis system. Analysis of the rater measurement variability around the technique means revealed significant differences between techniques with the least variation being found in the trigonometric technique. Significant differences were also found between the technique means but no differences between sessions were evident. The trigonometric technique produced mean ROMs closest in value to those derived from computer analysis. Application of the trigonometric technique resulted in the least variability in measurement across raters and consequently should be considered for use when changes in dorsiflexion ROM need to be reliably assessed. Copyright © 2012 Elsevier B.V. All rights reserved.

High resolution observations with Artemis-IV and the NRH. I. Type IV associated narrow-band bursts

NASA Astrophysics Data System (ADS)

Bouratzis, C.; Hillaris, A.; Alissandrakis, C. E.; Preka-Papadema, P.; Moussas, X.; Caroubalos, C.; Tsitsipis, P.; Kontogeorgos, A.

2016-02-01

Context. Narrow-band bursts appear on dynamic spectra from microwave to decametric frequencies as fine structures with very small duration and bandwidth. They are believed to be manifestations of small scale energy release through magnetic reconnection. Aims: We analyzed 27 metric type IV events with embedded narrow-band bursts, which were observed by the ARTEMIS-IV radio spectrograph from 30 June 1999 to 1 August 2010. We examined the morphological characteristics of isolated narrow-band structures (mostly spikes) and groups or chains of structures. Methods: The events were recorded with the SAO high resolution (10 ms cadence) receiver of ARTEMIS-IV in the 270-450 MHz range. We measured the duration, spectral width, and frequency drift of ~12 000 individual narrow-band bursts, groups, and chains. Spike sources were imaged with the Nançay radioheliograph (NRH) for the event of 21 April 2003. Results: The mean duration of individual bursts at fixed frequency was ~100 ms, while the instantaneous relative bandwidth was ~2%. Some bursts had measurable frequency drift, either positive or negative. Quite often spikes appeared in chains, which were closely spaced in time (column chains) or in frequency (row chains). Column chains had frequency drifts similar to type-IIId bursts, while most of the row chains exhibited negative frequently drifts with a rate close to that of fiber bursts. From the analysis of NRH data, we found that spikes were superimposed on a larger, slowly varying, background component. They were polarized in the same sense as the background source, with a slightly higher degree of polarization of ~65%, and their size was about 60% of their size in total intensity. Conclusions: The duration and bandwidth distributions did not show any clear separation in groups. Some chains tended to assume the form of zebra, lace stripes, fiber bursts, or bursts of the type-III family, suggesting that such bursts might be resolved in spikes when viewed with high resolution. The NRH data indicate that the spikes are not fluctuations of the background, but represent additional emission such as what would be expected from small-scale reconnection.

Partial amino-acid sequence of the precursor of an immunoglobulin light chain containing NH2-terminal pyroglutamic acid.

PubMed Central

Burstein, Y; Kantour, F; Schechter, I

1976-01-01

Analyses of amino-acid sequences of the total cell-free products programmed by the mRNA of MOPC-104E gamma light (L)-chain show that over 95% of the products have sequences of a distinct protein that correspond to the L-chain precursor. In this precursor an extra piece is coupled to the NH2-terminus of the mature L-chain. Analyses of products labeled with [3H]alanine, [3H]leucine, and [3H]proline demonstrate that the extra piece is composed of at least 18 residues. Analyses of [35S]methione-labeled product indicate that the extra piece may contain an additional NH2-terminal methionine, which is detected in about 10% of the molecules. Partial recovery of the NJ2-terminal methionine (alanine, leucine, and proline are recovered in yields close to theoretical, greater than 95%) suggests that it is the initiator methionine, which is known to be short lived in eukaryotes due to rapid hydrolysis. Thus, the extra piece seems to be 19 residues in length, and it contains one methionine at the NH2-terminus, three alanines at positions 2, 12, and 17, and five leucines at positions 6, 8, 10, 11, and 13. The close gathering of leucine residues, as well as their abundance (26%), suggest that the extra piece would be quite hydrophobic. Hydrophobicity seems to be a general property of the extra piece, since similar clusters of leucine were found in the precursors of 3 KL-chains (Burstein, Y. & Schechter, I. (1976) Biochem. J. 157, 145-151). The NH2-terminus of the mature MOPC-104E gamma L-chain is blocked by pyroglutamic acid. The fact that in the precursor a peptide segment precedes this NH2-terminus establishes that pyroglutamic acid is not the initiator residue for synthesis of the L-chain. Apparently, the pyroglutamic acid is formed by cyclization of glutamic acid or glutamine during cleavage of the extra piece to yield the mature L-chain. Images PMID:822420

Regular Mechanical Transformation of Rotations Into Translations: Part 1. Kinematic Analysis and Definition of the Basic Characteristics

NASA Astrophysics Data System (ADS)

Abadjieva, Emilia; Abadjiev, Valentin

2017-06-01

The science that study the processes of motions transformation upon a preliminary defined law between non-coplanar axes (in general case) axes of rotations or axis of rotation and direction of rectilinear translation by three-link mechanisms, equipped with high kinematic joints, can be treated as an independent branch of Applied Mechanics. It deals with mechanical behaviour of these multibody systems in relation to the kinematic and geometric characteristics of the elements of the high kinematic joints, which form them. The object of study here is the process of regular transformation of rotation into translation. The developed mathematical model is subjected to the defined task for studying the sliding velocity vector function at the contact point from the surfaces elements of arbitrary high kinematic joints. The main kinematic characteristics of the studied type motions transformation (kinematic cylinders on level, kinematic relative helices (helical conoids) and kinematic pitch configurations) are defined on the bases of the realized analysis. These features expand the theoretical knowledge, which is the objective of the gearing theory. They also complement the system of kinematic and geometric primitives, that form the mathematical model for synthesis of spatial rack mechanisms.

Stabilizing the hexagonal close packed structure of hard spheres with polymers: Phase diagram, structure, and dynamics

NASA Astrophysics Data System (ADS)

Edison, John R.; Dasgupta, Tonnishtha; Dijkstra, Marjolein

2016-08-01

We study the phase behaviour of a binary mixture of colloidal hard spheres and freely jointed chains of beads using Monte Carlo simulations. Recently Panagiotopoulos and co-workers predicted [Nat. Commun. 5, 4472 (2014)] that the hexagonal close packed (HCP) structure of hard spheres can be stabilized in such a mixture due to the interplay between polymer and the void structure in the crystal phase. Their predictions were based on estimates of the free-energy penalty for adding a single hard polymer chain in the HCP and the competing face centered cubic (FCC) phase. Here we calculate the phase diagram using free-energy calculations of the full binary mixture and find a broad fluid-solid coexistence region and a metastable gas-liquid coexistence region. For the colloid-monomer size ratio considered in this work, we find that the HCP phase is only stable in a small window at relatively high polymer reservoir packing fractions, where the coexisting HCP phase is nearly close packed. Additionally we investigate the structure and dynamic behaviour of these mixtures.

An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations

NASA Technical Reports Server (NTRS)

Yun, Xiaoping; Kumar, Vijay R.

1991-01-01

An approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.

Computer modeling of lung cancer diagnosis-to-treatment process

PubMed Central

Ju, Feng; Lee, Hyo Kyung; Osarogiagbon, Raymond U.; Yu, Xinhua; Faris, Nick

2015-01-01

We introduce an example of a rigorous, quantitative method for quality improvement in lung cancer care-delivery. Computer process modeling methods are introduced for lung cancer diagnosis, staging and treatment selection process. Two types of process modeling techniques, discrete event simulation (DES) and analytical models, are briefly reviewed. Recent developments in DES are outlined and the necessary data and procedures to develop a DES model for lung cancer diagnosis, leading up to surgical treatment process are summarized. The analytical models include both Markov chain model and closed formulas. The Markov chain models with its application in healthcare are introduced and the approach to derive a lung cancer diagnosis process model is presented. Similarly, the procedure to derive closed formulas evaluating the diagnosis process performance is outlined. Finally, the pros and cons of these methods are discussed. PMID:26380181

Effect of core stability training on throwing velocity in female handball players.

PubMed

Saeterbakken, Atle H; van den Tillaar, Roland; Seiler, Stephen

2011-03-01

The purpose was to study the effect of a sling exercise training (SET)-based core stability program on maximal throwing velocity among female handball players. Twenty-four female high-school handball players (16.6 ± 0.3 years, 63 ± 6 kg, and 169 ± 7 cm) participated and were initially divided into a SET training group (n = 14) and a control group (CON, n = 10). Both groups performed their regular handball training for 6 weeks. In addition, twice a week, the SET group performed a progressive core stability-training program consisting of 6 unstable closed kinetic chain exercises. Maximal throwing velocity was measured before and after the training period using photocells. Maximal throwing velocity significantly increased 4.9% from 17.9 ± 0.5 to 18.8 ± 0.4 m·s in the SET group after the training period (p < 0.01), but was unchanged in the control group (17.1 ± 0.4 vs. 16.9 ± 0.4 m·s). These results suggest that core stability training using unstable, closed kinetic chain movements can significantly improve maximal throwing velocity. A stronger and more stable lumbopelvic-hip complex may contribute to higher rotational velocity in multisegmental movements. Strength coaches can incorporate exercises exposing the joints for destabilization force during training in closed kinetic chain exercises. This may encourage an effective neuromuscular pattern and increase force production and can improve a highly specific performance task such as throwing.

Aligned fibers direct collective cell migration to engineer closing and nonclosing wound gaps

PubMed Central

Sharma, Puja; Ng, Colin; Jana, Aniket; Padhi, Abinash; Szymanski, Paige; Lee, Jerry S. H.; Behkam, Bahareh; Nain, Amrinder S.

2017-01-01

Cell emergence onto damaged or organized fibrous extracellular matrix (ECM) is a crucial precursor to collective cell migration in wound closure and cancer metastasis, respectively. However, there is a fundamental gap in our quantitative understanding of the role of local ECM size and arrangement in cell emergence–based migration and local gap closure. Here, using ECM-mimicking nanofibers bridging cell monolayers, we describe a method to recapitulate and quantitatively describe these in vivo behaviors over multispatial (single cell to cell sheets) and temporal (minutes to weeks) scales. On fiber arrays with large interfiber spacing, cells emerge (invade) either singularly by breaking cell–cell junctions analogous to release of a stretched rubber band (recoil), or in groups of few cells (chains), whereas on closely spaced fibers, multiple chains emerge collectively. Advancing cells on fibers form cell streams, which support suspended cell sheets (SCS) of various sizes and curvatures. SCS converge to form local gaps that close based on both the gap size and shape. We document that cell stream spacing of 375 µm and larger hinders SCS advancement, thus providing abilities to engineer closing and nonclosing gaps. Altogether we highlight the importance of studying cell-fiber interactions and matrix structural remodeling in fundamental and translational cell biology. PMID:28747440

Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation.

PubMed

Tan, John F; Masani, Kei; Vette, Albert H; Zariffa, José; Robinson, Mark; Lynch, Cheryl; Popovic, Milos R

2014-01-01

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject's ankle joint angle as controlled by the FES system while having the subject's body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing.

Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation

PubMed Central

Tan, John F.; Masani, Kei; Vette, Albert H.; Zariffa, José; Robinson, Mark; Lynch, Cheryl; Popovic, Milos R.

2014-01-01

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject's ankle joint angle as controlled by the FES system while having the subject's body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing. PMID:27350992

Kinematics Control and Analysis of Industrial Robot

NASA Astrophysics Data System (ADS)

Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

2018-03-01

The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

A neurorobotic platform for locomotor prosthetic development in rats and mice

NASA Astrophysics Data System (ADS)

von Zitzewitz, Joachim; Asboth, Leonie; Fumeaux, Nicolas; Hasse, Alexander; Baud, Laetitia; Vallery, Heike; Courtine, Grégoire

2016-04-01

Objectives. We aimed to develop a robotic interface capable of providing finely-tuned, multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats and mice. Approach. We interfaced a large-scale robotic structure actuated in four degrees of freedom to exchangeable attachment modules exhibiting selective compliance along distinct directions. This combination allowed high-precision force and torque control in multiple directions over a large workspace. We next designed a neurorobotic platform wherein real-time kinematics and physiological signals directly adjust robotic actuation and prosthetic actions. We tested the performance of this platform in both rats and mice with spinal cord injury. Main Results. Kinematic analyses showed that the robotic interface did not impede locomotor movements of lightweight mice that walked freely along paths with changing directions and height profiles. Personalized trunk assistance instantly enabled coordinated locomotion in mice and rats with severe hindlimb motor deficits. Closed-loop control of robotic actuation based on ongoing movement features enabled real-time control of electromyographic activity in anti-gravity muscles during locomotion. Significance. This neurorobotic platform will support the study of the mechanisms underlying the therapeutic effects of locomotor prosthetics and rehabilitation using high-resolution genetic tools in rodent models.

A neurorobotic platform for locomotor prosthetic development in rats and mice.

PubMed

von Zitzewitz, Joachim; Asboth, Leonie; Fumeaux, Nicolas; Hasse, Alexander; Baud, Laetitia; Vallery, Heike; Courtine, Grégoire

2016-04-01

We aimed to develop a robotic interface capable of providing finely-tuned, multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats and mice. We interfaced a large-scale robotic structure actuated in four degrees of freedom to exchangeable attachment modules exhibiting selective compliance along distinct directions. This combination allowed high-precision force and torque control in multiple directions over a large workspace. We next designed a neurorobotic platform wherein real-time kinematics and physiological signals directly adjust robotic actuation and prosthetic actions. We tested the performance of this platform in both rats and mice with spinal cord injury. Kinematic analyses showed that the robotic interface did not impede locomotor movements of lightweight mice that walked freely along paths with changing directions and height profiles. Personalized trunk assistance instantly enabled coordinated locomotion in mice and rats with severe hindlimb motor deficits. Closed-loop control of robotic actuation based on ongoing movement features enabled real-time control of electromyographic activity in anti-gravity muscles during locomotion. This neurorobotic platform will support the study of the mechanisms underlying the therapeutic effects of locomotor prosthetics and rehabilitation using high-resolution genetic tools in rodent models.

Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator

PubMed Central

Omar, Mohamed A.

2014-01-01

Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations. PMID:25045732

Domino structures evolution in strike-slip shear zones; the importance of the cataclastic flow

NASA Astrophysics Data System (ADS)

Moreira, N.; Dias, R.

2018-05-01

The Porto-Tomar-Ferreira do Alentejo dextral Shear Zone is one of the most important structures of the Iberian Variscides. In its vicinity, close to Abrantes (Central Portugal), a localized heterogeneous strain pattern developed in a decimetric metamorphic siliceous multilayer. This complex pattern was induced by the D2 dextral shearing of the early S0//S1 foliation in brittle-ductile conditions, giving rise to three main shear zone families. One of these families, with antithetic kinematics, delimits blocks with rigid clockwise rotation surrounded by coeval cataclasites, generating a local domino structure. The proposed geometrical and kinematic analysis, coupled with statistical studies, highlights the relation between subsidiary shear zones and the main shear zone. Despite the heterogeneous strain pattern, a quantitative approach of finite strain was applied based on the restoration of the initial fracture pattern. This approach shows the importance of the cataclastic flow coupled with the translational displacement of the domino domain in solving space problems related to the rigid block rotation. Such processes are key in allowing the rigid block rotation inside shear zones whenever the simple shear component is a fundamental mechanism.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dechant, Lawrence J.

Wave packet analysis provides a connection between linear small disturbance theory and subsequent nonlinear turbulent spot flow behavior. The traditional association between linear stability analysis and nonlinear wave form is developed via the method of stationary phase whereby asymptotic (simplified) mean flow solutions are used to estimate dispersion behavior and stationary phase approximation are used to invert the associated Fourier transform. The resulting process typically requires nonlinear algebraic equations inversions that can be best performed numerically, which partially mitigates the value of the approximation as compared to a more complete, e.g. DNS or linear/nonlinear adjoint methods. To obtain a simpler,more » closed-form analytical result, the complete packet solution is modeled via approximate amplitude (linear convected kinematic wave initial value problem) and local sinusoidal (wave equation) expressions. Significantly, the initial value for the kinematic wave transport expression follows from a separable variable coefficient approximation to the linearized pressure fluctuation Poisson expression. The resulting amplitude solution, while approximate in nature, nonetheless, appears to mimic many of the global features, e.g. transitional flow intermittency and pressure fluctuation magnitude behavior. A low wave number wave packet models also recover meaningful auto-correlation and low frequency spectral behaviors.« less

Wake structure and wing motion in bat flight

NASA Astrophysics Data System (ADS)

Hubel, Tatjana; Breuer, Kenneth; Swartz, Sharon

2008-11-01

We report on experiments concerning the wake structure and kinematics of bat flight, conducted in a low-speed wind tunnel using time-resolved PIV (200Hz) and 4 high-speed cameras to capture wake and wing motion simultaneously. 16 Lesser dog-faced fruit bats (C. brachyotis) were trained to fly in the wind tunnel at 3-6.5m/s. The PIV recordings perpendicular to the flow stream allowed observing the development of the tip vortex and circulation over the wing beat cycle. Each PIV acquisition sequence is correlated with the respective kinematic history. Circulation within wing beat cycles were often quite repeatable, however variations due to maneuvering of the bat are clearly visible. While no distinct vortex structure was observed at the upper reversal point (defined according the vertical motion of the wrist) a tip vortex was observed to develop in the first third of the downstroke, growing in strength, and persisting during much of the upstroke. Correlated to the presence of a strong tip vortex the circulation has almost constant strength over the middle half of the wing beat. At relatively low flight speeds (3.4 m/s), a closed vortex structure behind the bat is postulated.

Auditory reafferences: the influence of real-time feedback on movement control.

PubMed

Kennel, Christian; Streese, Lukas; Pizzera, Alexandra; Justen, Christoph; Hohmann, Tanja; Raab, Markus

2015-01-01

Auditory reafferences are real-time auditory products created by a person's own movements. Whereas the interdependency of action and perception is generally well studied, the auditory feedback channel and the influence of perceptual processes during movement execution remain largely unconsidered. We argue that movements have a rhythmic character that is closely connected to sound, making it possible to manipulate auditory reafferences online to understand their role in motor control. We examined if step sounds, occurring as a by-product of running, have an influence on the performance of a complex movement task. Twenty participants completed a hurdling task in three auditory feedback conditions: a control condition with normal auditory feedback, a white noise condition in which sound was masked, and a delayed auditory feedback condition. Overall time and kinematic data were collected. Results show that delayed auditory feedback led to a significantly slower overall time and changed kinematic parameters. Our findings complement previous investigations in a natural movement situation with non-artificial auditory cues. Our results support the existing theoretical understanding of action-perception coupling and hold potential for applied work, where naturally occurring movement sounds can be implemented in the motor learning processes.